CN110325032A

CN110325032A - System and method for transfering plant automatic in agricultural facility

Info

Publication number: CN110325032A
Application number: CN201780087239.9A
Authority: CN
Inventors: 布兰登·埃斯·亚历山大; 白文翰
Original assignee: Iron Ox Inc
Current assignee: Iron Ox Inc
Priority date: 2016-12-22
Filing date: 2017-12-22
Publication date: 2019-10-11
Anticipated expiration: 2037-12-22
Also published as: US20210105951A1; CN110325032B; US10225993B2; WO2018119407A1; EP3557970A4; US20190000019A1; EP3557970B1; US20200187425A1; US10524425B2; EP3557970A1; US10897850B2; US10375898B2; US20190313583A1; US11707023B2; US20190150369A1

Abstract

A kind of modification of method for transfering plant automatic in agricultural facility includes: the transfer station assigning loading machine and being automatically transported to the first module from the first growth position in agricultural facility in agricultural facility, first module is mounted with first group of plant in the first growth phase with the first array of the first density limitations plant slot；Assign loading machine and the second module is automatically transported to transfer station, second module does not have plant with the second array of the second density limitations plant slot less than the first density；Record the module cascade scanning optical of the first module；First group of plant of the feature extraction detected from module cascade scanning optical survives force parameter；And it is fallen in except target viablity range if surviving force parameter, refusal shifts first group of plant from the first module.

Description

System and method for transfering plant automatic in agricultural facility

Cross reference to related applications

This application claims the interests for the U.S. Provisional Application No. 62/437,822 submitted on December 22nd, 2016, this is interim Application is all incorporated by this reference.

Technical field

Present invention relates in general to farm implements field, more specifically in farm implements field in agricultural facility from The new and useful method of turn graft.

Brief description

Fig. 1 is that the flow chart of method and system indicates；

Fig. 2A and 2B is that the flow chart of a deformation of method indicates；

Fig. 3 is a modification of system；And

Fig. 4 is a modification of system.

The description of embodiment

Being described below to be not intended to of the embodiment of the present invention limits the invention to these embodiments, and is intended to make ability Field technique personnel can manufacture and using the present invention.Modification described herein, configuration, realization, illustrative embodiments and Example is optional, and is not excluded for its described modification, configuration, realization, illustrative embodiments and example.It is retouched herein The invention stated may include these modifications, configuration, realization, illustrative embodiments and exemplary any and all arrangement.

1. method

As shown in Figure 1, being used for the method S100 of automatic transfering plant in agricultural facility includes: to assign in block S110 First module is automatically transported to the transfer station in agricultural facility from the first growth position in agricultural facility by loading machine, wherein First module is mounted with first group of plant in the first growth phase with the first array of the first density limitations plant slot；? In block S112, assigns loading machine and the second module is automatically transported to transfer station, wherein the second module is less than the first density The second array of second density limitations plant slot, and there is no plant；In block S120, the module level optics of the first module is recorded Scanning；In block S122, that first group of plant is extracted in the feature that detects from module cascade scanning optical survives force parameter； And fallen in except target viablity range in response to surviving force parameter, refusal shifts first from the first module in block S130 Group plant.Method S100 further includes falling within the target range in response to surviving force parameter: in block S140, being touched at transfer station Robotic manipulator is sent out, the plant slot the first subset of first group of plant being transferred to from the first sequence of modules in the second module Second array in；In block S113, assigns loading machine and third module is automatically transported to transfer station, the third module is with the The third array of two density limitations plant slots；Also, in block S140, in response to filling the second module with the first subset of plant Each plant slot in the second array of middle plant slot, triggering robotic manipulator is by the second subset of first group of plant from first Sequence of modules is transferred in the third array of plant slot in third module.

As shown in Figure 2 A and 2B, a kind of modification of method S100 includes: to assign loading machine for the first module in block S110 It is automatically transported to the transfer station in agricultural facility from the first growth position in agricultural facility, wherein the first module is close with first Degree limits the first array of plant slot, and is mounted with first group of plant in the first growth phase；In block S112, assigns and load Second module is automatically transported to transfer station by machine, wherein the second module is with the second density limitations plant less than the first density The second array of slot, and there is no plant；At transfer station, the first optical reference in the first module is detected, is based on the first light Benchmark registers the position of the first array of the plant slot in the first module at transfer station, detects the second light in the second module Benchmark is learned, registers the position of the second array of the plant slot in the second module at transfer station based on the second optical reference, and In block S140, the end effector that navigates at transfer station is to engage the first plant in first group of plant, the first plant cloth It sets in the first plant slot in the first array of the plant slot in the first module.This variation of method S100 further include: In block S160, the first optical scanner of the first plant is recorded；In block S162, the first plant is extracted from the first optical scanner First survives force parameter；Force parameter is survived in response to first, and the first plant is transferred to second in block S170 more than target value In the last one plant slot in module in the second array of plant slot；In block S140, end effector is navigated to engage the The second plant in one group of plant, the second plant are arranged in the second plant slot in the first array of the plant slot in the first module In, the second plant slot is exposed to end effector adjacent to the first plant slot and by removing the first plant；In block S160, Record the second optical scanner of the second plant；In block S162, second that the second plant is extracted from the second optical scanner is survived Force parameter；It also, is more than second to survive force parameter in response to target value, the second plant is put into the second mould by refusal in block S172 Block.

Another modification of method S100 includes: to receive the first array for limiting the plant slot of the first density in block S110 The first module, the first array load of plant slot has one group of plant in the first growth phase；In block S120, record first The optical scanner of module；In block S122, force parameter is survived from the plant extracted in one group of plant in optical scanner；And And target value is dropped below in response to surviving force parameter, refuse the first module in block S130.Method S100 further includes ringing Ying Yu survives force parameter more than target value: in block S140, by the end effector of the end of robotic manipulator laterally toward The first plant into one group of plant and navigate, first plant is arranged in the first plant in the first array of plant slot In slot；In block S140, from the first plant slot vertical navigation end effector, to extract the first plant from the first plant slot；? In block S150, the first weight of the first plant is measured；Also, in response to the first weight of the first plant drop to threshold weight with Under, the first plant is abandoned in block S172.Method S100 further includes that the first weight in response to the first plant is more than threshold value weight Amount: end of navigating in block S170, on the last one plant slot in the second array of the plant slot in the second module executes Device, the second density of the second array of plant slot is less than the first density；In block S170, end is reduced towards the second module and is executed First plant is inserted into the last one plant slot in the second array of the plant slot in the second module by device；And it will be last End actuator laterally navigates to the second plant slot of the neighbouring first plant slot in the first array of the plant slot in the first module In the second plant.

2. application

In general, the block of method S100 can be combined greenhouse or other agriculturals by controller 104 (or other computer systems) Facility (hereinafter referred to as " facility ") Lai Zhihang or control, be configured to keep plant with the first density with automatic vision inspection the Plant in one module, and if these plants are checked by automatic size and pest, these plants are shifted automatically To being configured in the second module to keep plant compared with low-density, this can provide bigger than the first module upper for these plants Fang Guangzhao, lower section nutrient and the space to outgrowth.Particularly, the block of method S100 can be executed by the system, and such as include: this Ground or remote controllers 104, such as remote server；Robotic manipulator is connected to controller 104, in facility At transfer station, and equipped with camera, scale and/or end effector, which is configured as fetching plant from module Object；And/or it is automatic " loading machine ", it is connected to controller 104 and is configured to fetch module from the growth district of entire facility, Module is transported to transfer station, and the position that module is distributed in entire facility back to them.

Specifically, plant can grow in the module being arranged in entire facility, wherein each module defines plant The array of object slot, the array of the plant slot are configured to be suitable for the density in growing plants stage in module and keep a plant Object (or " heap " similar plants, such as multiple sweet basil plants).Young plant may have relatively small leaf, and covering is opposite Lesser area, therefore these young plants only need lesser growth volume (grow volume)；With these plant maturations (for example, to " rudiment " stage or by " thinning " and " foliage " stage), their leaf, which may be grown into, covers bigger face Product, to need bigger growth volume；With these plants it is further mature (for example, by " early heading ", " middle heading " and " maturation heading " stage), their leaf can more fully develop, thus the area that covering is bigger, until harvesting these plants Object, to need bigger growth volume.In order to keep the relatively high handling capacity of every level product in facility, facility can be equipped with Different types of module is suitble to each stage of plant growth that is, with the module of different plant groove densities, and is therefore suitble to From the plant for the different size range for being seeded into harvest.For example, the facility can be equipped with: sowing pallet (or " sowing mould Block "), which defines the plant slot of most high-density (for example, every 4 feet × 12 foot module, 640 plant slots), and are configured as Plant is kept during sowing stage；The module (hereinafter referred to as " nursery type ") of first seed type defines the plant of intermediate density Slot (for example, every 4 feet × 12 foot module, 170 plant slots), and be configured as keeping plant during the budding stage；And The module (hereinafter referred to as " fattening type ") of second of type, which defines the plant slots of least density (for example, every 4 feet × 12 40 plant slots of foot module), and be configured as keeping plant during before fattening stage and harvest.By by seedling first It is placed in the module with maximum plant groove density, then as the increase of plant size and maturity, by these plants It is transported in the module with lower and lower plant groove density feature, which averagely can accommodate and plant each module more More plant, to realize bigger space efficiency (that is, the long-pending number of plant of every level in the facility).

Therefore, with plant maturation, system 100 can be used for the module by these plants from higher plant groove density automatically It is transferred to the module of lower plant groove density.For example, system 100 can be automatically: young shoot is transferred to nursery from sowing pallet In first module of type, which includes to be suitable for the plant until the first density of such plant in young shoot stage Slot, the first module of the nursery type include to be suitable for the plant until the second density of such plant of early heading-stage Slot；Early heading plant is then transferred to the second module of fattening type from the first module, the second module of the fattening type includes suitable Together in the plant slot of the third density of such plant until the full maturity stage；Finally taken out from the second module Complete mature plant, for processing, packing and distributed from facility.

In addition, because when the close growth phase for needing to be transferred to another module with lower plant groove density of plant When, the obstruction that plant may be subjected to the leaf of these plants is removed from module, so system 100 can capture the first module Optical scanner (for example, photograph image), and analyze the optical scanner with obtain plant size (for example, width, height) and/or Quality (for example, color) visually indicates, to confirm that these plants meet various sizes and/or QT Quality Target.If the first mould At least threshold percentage of plant in block is more than these targets, then system 100 (for example, robotic manipulator) can in order certainly Turn moves the plant in the first module: from when the first module is full of in most suitable the first close module of robotic manipulator First plant slot starts；The second plant after being removed to the first plant slot in most suitable the first close module of robotic manipulator Object slot；... after into the first module, penultimate plant slot is removed again in come-at-able first module of robotic manipulator The last one plant slot.For plant after the removal of the first module, system 100 (for example, robotic manipulator) can also measure plant The weight of object, to confirm that plant has passed through weight target before plant is transferred to the second module.However: if optical scanner Indicate that the first module can be returned to facility by the plant oversize target that threshold percentage is less than in the first module, system 100 In growth district, the further maturation for these plants；If optical scanner indicates to be more than threshold percentage in the first module Plant be lower than QT Quality Target, then system 100 can abandon the plant in the first module；And if the weight measurement of plant Lower than target weight, system 100 can abandon the plant or the plant is transferred to the third with the first module same type Module, then by third module back to the growth district in facility, so that not from this of the first module and other weight The plant of foot is further mature.

System 100 (for example, controller 104, robotic manipulator and loading machine) therefore can fetch module；Visual inspection Whether the plant in these modules has insufficient growth, growth failure and/or pest；The plant for meeting vision growth target is removed, To be transferred into next module characterized by lower plant groove density；Check the weight of plant；And it is based on from plant Plant, is transferred in next module by the vision data and/or weight data collected automatically in object automatically, abandons the plant of selection Object, the whole group plant in discard module, and/or entire module is returned further to make their content mature.

3. system

As described above and as shown in Figure 3 and Figure 4, the block of method S100 can be executed by system 100, and system 100 includes: this Ground or remote controllers 104, such as remote server；Robotic manipulator 150 (for example, robots arm), is connected to control Device 104 at the transfer station 140 in facility 102, and equipped with camera, scale and/or is configured as fetching plant from module End effector 154；And/or automatic loader 130, it is connected to controller 104 and is configured as from entire facility 102 Growth district fetches module, and module is transported to transfer station 140, and by module back to they are specified in entire facility 102 Position.

For example, system 100 may include: the first module 110, it is assigned to the first growth position in agricultural facility 102 It sets, with the first array 111 of the first density limitations plant slot, and loads first group of plant on the first array 111 of plant slot； Second module 120, with the second array 121 of the second density limitations plant slot less than the first density；Third module 122, With the third array 123 of the second density limitations plant slot；With transfer station 1400, it is disposed in inside agricultural facility 102.System 100 can also include loading machine 130, which is configured as: independent navigation is by entire agricultural facility 102, automatically First module 110 is transported to transfer station 140 from the first growth position, the second module 120 is automatically transported to transfer station 140 Near first module 110 at place, and that third module 122 is automatically transported to the first module 110 at transfer station 140 is attached Closely, to substitute the second module 120.System 100 can also include the robotic manipulator 150 being disposed at transfer station 140, Including the optical sensor 152 close to end effector 154, and it is configured as: the first plant in first group of plant of engagement, First plant occupies the first plant slot in the first array 111 of the plant slot in the first module 110；In response to the first plant Survive force parameter more than threshold value, the first plant is inserted into the last one slot in second group of slot of the second module 120；Response In the force parameter that survives that threshold value is more than the first plant, refusal send the first plant to the second module 120；By the first subset of plant The second array 121 of the plant slot in the second module 120 is sequentially transferred to from the first module 110, the first subset of plant includes First plant；And in response to second group of plant slot in the second module 120 of filling, by the second subset of plant from the first module 110 are sequentially transferred to the third array 123 of the plant slot in third module 122, and the second subset of plant is in the first module 110 Connect the first subset of plant.

System 100 can also include controller 104, which is configured to handle and be recorded in whole system 100 Data, and various movements of the element in management system 100.For example, robotic manipulator 150 may be configured to work as end When actuator 154 is close to the first plant, the first image for the first plant being arranged in the first slot of the first module 110 is recorded, As described below；And controller 104 can extract the force parameter that survives of the first plant from first image, and be based on first The first of plant survives the difference between force parameter and target viablity range, and selectively triggering robotic manipulator 150 will First plant is inserted into the second module 120 or is discarded into the first plant and abandons in case.

3.1 module

Each module in system 100 is configured to a part in the growth cycle of these plants (for example, 12 Zhousheng Surrounding in long period) one group of plant of interior receiving.Each module can define standard size (for example, four feet wide multiply eight feet Length multiplies four feet of height；2 meters wide multiplies five meter Chang Cheng, mono- meter of height), and may include plant growing cycle associated with root module Multiple plant slots for matching of a part.Such as: sowing pattern block may include 192 plant slots；Nursery pattern block can be with Including 48 plant slots (that is, a quarter for up to sowing pattern block)；Fattening pattern block may include 12 plant slots (that is, a quarter of up to nursery pattern block)；As shown in figure 4, although identical overall dimensions of these module definitions and several What shape.

In one embodiment, a kind of module includes: one group of water planting pallet (or water planting pipe), and each water planting pallet limits (linear) array of plant slot, wherein each plant slot is configured to receive and keep a kind of plant (or the one of various plants Cluster)；Bracket or frame support one group of water planting pallet at a certain angle, such as tilt 5 ° from horizontal plane；Liquid storage device, fluid It is connected to one group of water planting pallet, and is configured as collecting the water flowed out from water planting pallet；And pump, the pump be configured to make water from Liquid storage device is recycled back to one group of water planting pallet.The module additionally or alternatively can be configured to be temporarily connected to facility 102 In water supply line and return piping, this can provide constant water and nutrition supplement to the plant in the module.In the reality It applies in mode, which can also include: an optical reference 114 before each water planting pallet；Each water planting pallet two The optical reference 114 at end；Along each water planting pallet adjacent to an optical reference 114 of each plant slot；Or in module Optical reference 114 at three or four angles；Etc..System 100 therefore can be such as by being integrated into loading machine 130 and machine Optical sensor 152 in device people executor 150 detects these optical references 114, with identification and locating module and positioning Plant slot in module in each water planting pallet.

In another embodiment, a kind of module includes: open pallet, is configured to accommodate the water of fixed volume And nutrients；Covering, is arranged in above open pallet and including one group of perforation, wherein each perforation restriction plant slot, The plant slot is configured to receive and keep a kind of plant (or cluster plant)；And bracket, it is configured to tray support Leave ground.In embodiments: as described above, open pallet can define standard rectangular geometry；And lid can To include the rectangle covering in the water for being configured to swim in pallet.For example, lid may include: the battle array for limiting plant slot The rigid panel (for example, nylon or aluminium sheet) of column (for example, linear grid array, closing packaging (close-pack) array)；With And floating material, when the array of the plant slot in lid be full of plant when, the floating material extend through the downside of rigid panel and Show enough buoyancy and/or height to keep the air gap between the top surface of the water in pallet and the bottom surface of lid, from And the top root system of these plants is kept to be exposed in air, and thus be exposed in oxygen.In addition, in this example, because Lid is swum on the water surface in pallet, so lid may insure that the root holding of these plants is contacted with the water in pallet, to the greatest extent Water level in conduit saddle disk changes.

In addition, in this embodiment, module may include one group of optical reference 114, it is arranged in lid and/or pallet Top surface on, and be configured as position, direction, distance, type and/or the unique identities of indicating module.For example, the module can To include: an optical reference 114 (for example, unique bar code or quick response code), three be arranged on lid Or at each of four angles；(for example, yellow represents the nursery stage, red represents fattening rank to three (identical) color points Section), it is arranged in the corner of lid or pallet；Or in adjacent lid each plant slot a 114 (example of optical reference Such as, around colour circle, square or the polygon of the known geometries of each plant slot and size)；Etc..

Optionally, module may include the open pallet with fixed lid.In this embodiment, pallet and fixed lid It can limit similar to the geometry and feature in aforementioned embodiments, but lid is fixedly coupled to the edge of pallet, Such as the edge seal against pallet, to prevent from splashing out when module is loaded the mobile Shi Shuicong pallet of machine 130.

The frame of support water planting pipe or pallet may include one group of hard spot, loading machine 130 be configured as when module its These are engaged when moving between specified growth position on the floor of facility 102 and the module docking location of neighbouring transfer station 140 Hard spot.As described below, loading machine 130 can automatically navigate in module, from eminence detection module, and in transverse shifting mould Hoisting module before block；In this embodiment, which may include optical reference 114, the benchmark 114 be arranged in pallet, On the top side of lid or water planting pipe etc., allow these optical references 114 to be loaded machine 130 and detect, so that loading Machine 130 can be directed at oneself in module before the hard spot hoisting module from frame.Optionally, loading machine 130 can be by It is configured to the independent navigation under module.In this embodiment, module may include under frame, pallet or water planting pipe etc. The optical reference 114 of side arrangement, allows these optical references 114 to be loaded machine 130 and detects, so that loading machine 130 can be before splice module in module aligned beneath oneself.Additionally optionally, which may include: one group of wheel, foot Wheel or idler wheel etc., frame facet or subsequent bolt；With the optical reference 114 of neighbouring bolt.Therefore loading machine 130 can be examined These optical references 114 are surveyed with by its own alignment pins, correspondingly engaging sliding bolt, then at it on 102 floor of facility Pulling or push module between designated position and the module docking location of neighbouring transfer station 140.

However, module can define any other structure or geometry, and any other quantity or row can be defined The plant slot of column.

3.2 plants cup

System 100 can also include plant cup 112, wherein each plant cup 112 is configured as: with various types of modules Plant slot cooperation in (for example, sowing type, nursery type and fattening pattern block)；And it is supported when sprout growth is at mature plant The stem of rudiment supports mature plant in various types of sequence of modules by plant cup 112 over time.It is specific and Speech, each plant cup 112 may include: inner hole, be configured as keeping the stem of plant when plant grows at any time；And it connects Close feature, the end effector 154 being configured as on bonding machine people executor 150, as described below, so that robot is grasped Vertical device 150 can repeatedly fetch plant cup 112 and plant, remove plant cup 112 and plant from the plant slot in a module, It checks plant, then plant cup 112 and plant is placed into the plant slot in another module.

In one embodiment, each plant cup 112 limits shoulder, which is configured to when setting is in plant slot When plant slot upper vertical extend so that prolonging in block S140 from the end effector 154 in robotic manipulator 150 The static or actuatable jaw stretched can zygophyte cup 112, and fetch plant cup 112 and its associated from its plant slot Plant, as shown in Figure 1.For example, plant cup 112 can limit back taper: from placed in the middle in plant slot；Work as robotic manipulator 150 from plant slot when fetching plant cup 112, certain inclination for allowing end effector 154 and plant cup 112 to be aligned；Work as machine When device people executor 150 is by plant cup insertion plant slot, certain for allowing plant cup 112 to be aligned with plant slot is tilted；And it wraps The flange along upper part (i.e. larger) edge is included, to prevent from working as robotic manipulator 150 via plant 112 zygophytes of cup and incite somebody to action When plant lifts from module, plant cup 112 slides entirely over the jaw on end effector 154.Plant cup 112 can also include The through-hole extended through the central axis of back taper, the through-hole are configured to receive axis, and limit be enough to allow plant with Time diameter for growing in plant cup 112.Through-hole can also be filled with foam or other soft or degradable materials, with The stem of the rudiment is supported when lesser rudiment is put into plant cup 112 for the first time.Plant cup 112 can also include key feature (a Keyed feature), which is configured to plant cup 112 being rotatably registrated end effector 154 and/or plant Slot.

However, plant cup 112 can limit any other form or feature.

3.4 loading machine

As shown in figures 1 and 3, loading machine 130 (for example, wheeled autonomous vehicle) is configured in entire facility 102 certainly Module: in block S110, being repositioned onto the module docking location of neighbouring transfer station 140 by leading boat, to prepare to fill plant It is downloaded in these modules or unloads plant from these modules；And selectively these modules are entirely being set back to them Apply the growth position being assigned in 102.Specifically, loading machine 130, which can be configured to self-navigation, reaches mould across facility 102 Below block or neighbouring specific position, to be connected to or hoisting module, the transfer station in facility 102 is navigate to together with module 140, and (or " storage ") module is discharged at transfer station 140.Robotic manipulator 150 can be disposed in transfer station 140 Immediate vicinity, and loading machine 130 can arrange the first mould of nursery type at transfer station 140 adjacent to robotic manipulator 150 Second module 120 of block 110 and fattening type, to enable plant slot of the robotic manipulator 150 in the first module 110 Navigate its end effector 154 in the entire scope of entire scope and the plant slot in the second module 120.Loading machine 130 may be used also The third module 122 for the type of fattening is stored in transfer station 140, such as adjacent to the second module 120, and once the second module All plant slots in 120 are filled, and robotic manipulator 150 may switch to the plant of removing from 110 turns of the first module Move on to third module 122.Loading machine 130 can also be by the 4th module 114 of nursery type (for example, " when extending growth of nursery type Between " module) be stored in transfer station 140, and robotic manipulator 150 can will be removed from the first module 110 it is underweight Plant be transferred in the 4th module 114, with can be close to next plant in the first module 110, next plant tool There is enough weight to be transferred in the second module 120 of fattening type.Loading machine 130 then can be by second, third and/or the Four modules return to the growth district specified in facility 102, such as under translucent roof and/or under artificial light.

Sowing pallet can also be transported to shift module by loading machine 130, and class can be implemented in robotic manipulator 150 As methods and techniques check the size and weight of plant in sowing pallet, and first module 110 is returned in loading machine 130 It returns to before the specified planting area in facility 102, plant is sequentially transferred in the first module 110 from sowing pallet.It can Selection of land, system 100 may include the second robotic manipulator 150 at the second transfer station 140 being arranged in facility 102, dress First module 110 and sowing pallet can be transported to the second transfer station 140, and the second robotic manipulator 150 by carrier aircraft 130 Rudiment can be transferred in the first module 110 from sowing pallet.

3.4 transfer station

As shown in Figure 1 and Figure 4, system 100 further includes the transfer station 140 being arranged in facility 102, and transfer station 140 limits Plant is independently checked and is transferred to from the first module 110 (for example, nursery pattern block) of the plant slot comprising higher density The second module 120 comprising the plant slot compared with low-density

The position of (for example, fattening module).

System 100 can also include robotic manipulator 150: be disposed at transfer station 140；Limit multi link robot Executor 150, the multi link robotic manipulator 150 sufficiently movement are temporarily located in the module at transfer station 140 with reaching Each plant slot；Including end effector 154, which, which is configured to engage, supports plant in the module Plant cup 112；And/or it including optical sensor 152 (for example, multispectral camera or stereoscopic camera etc.), is configured to record The module cascade scanning optical for being transported to the module of transfer station 140 and/or the plant particular optical for recording plant in these modules are swept It retouches, as described below.System 100 (for example, controller 104) can handle these optical scanners and (or otherwise handle by light Learn the optical data or the visual field for handling optical sensor 152 that sensor 152 records), to detect the optics base in these modules Standard 114 detects the plant in these modules, and identifies or quantify the viablity of these plants.

In one embodiment, robotic manipulator 150 includes: that facility 102 is rigidly mounted at transfer station 140 Pedestal on floor；End effector 154 is configured as zygophyte cup 112 and supports one or more optical sensings Device 152；And multiple independently operable connecting rods and connector, it is connected between pedestal and end effector 154, and cooperate With the whole of the plant slot in the module (for example, nursery pattern block and fattening pattern block) being temporarily located at transfer station 140 Navigate end effector 154 in length and width.

Optionally, transfer station 140 may include that (short) bidirectional conveyor 156 (or other linear slides or linear causes Dynamic device), it is rigidly attached on the floor of the facility 102 at transfer station 140, and be configured as along at transfer station 140 The length moving slide board of module docking location.The pedestal of robotic manipulator 150 can be installed on slide plate, and conveyer 156 therefore can be along the length mobile robot executor 150 of module docking location.Such as: module in system 100 can be with Be about be 4 inches wide with it is 8 feet long；First module 110 can be temporarily located in the module at transfer station 140 by loading machine 130 Docking location, wherein the long side of the first module 110 is neighbouring and is roughly parallel to conveyer 156；Robotic manipulator 150 can be by It is configured to reach and reliably the plant in zygophyte slot glass 112, plant slot deviates center line up to six English of conveyer 156 Ruler (that is, being greater than the width of module but less than the length of the first module 110).In this example, conveyer 156 therefore can be along Length (all or part) the linear movement robotic manipulator 150 of module docking location, so that robotic manipulator 150 It can be reached along the overall length of the remote long side of the first module 110 and reliably zygophyte glasss 112.In this embodiment, defeated Send machine 156 therefore to can be used for length linear movement robotic manipulator 150 along module docking location, and therefore along It is temporarily positioned in the long side linear movement robotic manipulator 150 of the module in module parking area, so as to: so that having compared with unskilled labourer The robotic manipulator 150 for making volume can execute the block of method S100 at transfer station 140；And/or enable system 100 The high position accuracy and control of end effector 154 are kept, because the position precision of end effector 154 and control can be with Inverse change with a distance from pedestal of the end effector 154 from robotic manipulator 150.In this variant, robotic manipulator 150 and conveyer 156 be hereinafter described generally as " robotic manipulator 150 ".

In a kind of modification, robotic manipulator 150 further includes weight sensor 158, such as is integrated into connector or integrated To the form of the deformeter in end effector 154, it is configured as the plant that output indicates that robotic manipulator 150 is fetched The signal of weight or quality, as described below.

3.5 optical inspection station

In a kind of modification shown in Fig. 4, system 100 includes optical inspection station 160, which, which is located at, turns At fortune station 140, and robotic manipulator 150 is physically close to.In one embodiment, optical inspection station 160 It include: the shell for limiting hole, which is configured as receiving plant via robotic manipulator 150；Receiver is arranged in shell It is interior, and be configured to receive and support plant cup 112 inside the shell；One group of illumination component is configured as repeatably illuminating Plant on the receiver is placed by robotic manipulator 150；With optical sensor 152 (for example, 2D color camera, solid Color camera and/or multispectral camera etc.), the interior of shell being arranged in above receiver, and be configured to work as quilt The 2D or 3D rendering of plant are captured when optical element irradiates.In this embodiment, optical inspection station 160 can also include: rotation Platform, arrangement inside the housing, support receiver, and are configured as the plant of rotation placement in the receiver；It is outer with being arranged in Optical reference 114 outside shell, robotic manipulator 150 can be passed by being arranged in the optics near its end effector 154 Sensor 152 detects optical reference 114, to determine position of the end effector 154 relative to the hole in shell.

In the foregoing embodiment, when fetching plant from the module for being temporarily located in module docking location, robot behaviour Vertical device 150 can be with: automatically end effector 154 navigating towards optical inspection station 160；It detects outside optical inspection station 160 Optical reference 114；Relative to its movement of the optical reference 114 registration；End effector 154 and plant are navigated through into optics Hole in inspection station 160；Plant is placed on the receiver inside optical inspection station 160；Then in triggering optical inspection station 160 execute retraction end effector 154 before scan routine.During scan routine, optical inspection station 160 can be with: activation light Element；And optical sensor 152 is triggered to record the 2D or 3D rendering of plant, such as when turntable is in optical inspection station 160 When being rotated by 360 °.Then system 100 can extract the various features of plant, such as size, the shape of plant from 2D or 3D rendering Shape, color and pest instruction, as described below.System 100 can additionally or alternatively deposit these 2D or 3D rendering of plant Storage is in the file specific to plant.

A transfer station more than 3.6

Method S100 is described below to be executed by system 100, with test plants and by it from the first mould of nursery type Block 110 is transferred to the second module 120 of fattening type.However, similar methods and techniques may be implemented in system 100, any Transfering plant between the module of other types, configuration or plant groove density.Such as: the first robot at the first transfer station 140 Executor 150 may be configured to for plant being transferred in the module of nursery type from sowing pallet；At second transfer station 140 Two robotic manipulators 150 may be configured to the module that plant is transferred to fattening type from the module of nursery type；And it is setting Applying the third robotic manipulator 150 at the third transfer station 140 in 102 may be configured to module by plant from fattening type It is transferred on conveyer 156, in chest or on supporting plate, is shipped for manually or automatically processing and from facility 102.However, method S100 can be performed between the module of any other type automatically test and transfering plant, that is, be suitable for giving birth in definition Grow the growth cycle of specified plant, plant subspecies or plant species in facility 102 etc. any other part or it is lasting when Between plant groove density module between.

Method S100 is also been described as to be executed by system 100, to pass through a series of sowing pallets, nursery pattern block and fattening Pattern block shifts lettuce automatically.However, method S100 can be combined in greenhouse or other agricultural facilities 102 plants any other The plant of type is implemented, such as is grown fruit, vegetables, beans, flower, shrub or trees etc..

4. module conveys

The block S110 of method S100 is described: assigning loading machine for the first module from the first growth position in agricultural facility It is independently transported to transfer station in agricultural facility, wherein the first module is with the first array of the first density limitations plant slot, and is filled It is loaded with first group of plant in the first growth phase.(block S110 can similarly receive the of the plant slot for limiting the first density First module of an array, wherein the first array load of plant slot has one group of plant in the first growth phase.) in general, In block S110, system 100 (for example, controller 104) assigns loading machine and collects the from its position in the growth district of facility One module, and the first module is transported to the transfer station that robotic manipulator (or other systems) is located in facility, such as Fig. 1 and figure Shown in 2A.For example, as shown in Figure 1, loading machine can navigate to the position in the facility that the first module is finally transported to, by it Self poisoning activates elevator or bolt so that the first module raises are left floor, navigates on or below the first module The first module docking location on first side of the robotic manipulator at transfer station, then reduce elevator or release bolt with First module is returned into the floor at the first module docking location.

System 100 can be implemented similar methods and techniques and call the second module to transfer station, and loading machine can With methods and techniques as implementation of class come the second docking location for fetching the second module and being stored in the second module at transfer station Place, such as the neighbouring robotic manipulator opposite with the first module docking location at transfer station.For example, system 100 can be with: In block S112, assign loading machine automatically by the second module (with second of the second density limitations plant slot less than the first density Array and no plant) transfer station is transported to (for example, being transported to docking with the first module at transfer station for robotic manipulator The second module docking location in the opposite second side in position), for loading the viable plant from the first module；? In block S113, once the plant slot in the second module is filled, assign loading machine automatically by third module (with the second density limit It is colonized the third array of object slot) it is transported to transfer station, for loading the viable plant from the first module；And in block In S114, assigns loading machine and the 4th module (with the 4th array of the first density limitations plant slot) is automatically transported to transhipment It stands, for loading the lower plant of undersized or viablity from the first module.

5 module cascade scanning opticals

The block S120 of method S100 describes the module cascade scanning optical of the first module of record；The block S122 of method S100 remembers Carried extract first group of plant from the feature detected in module cascade scanning optical survive force parameter.In general, once in block The first module is transported to transfer station in S120, and system 100 collects the initial optical data for the plant being arranged in the first module, Then various plant calculations of correlation are extracted from these optical datas in block S122.Particularly, it is transported when the first module reaches When standing, robotic manipulator can be recorded in block S120 the module level 2D for being currently contained in all plants in the first module or Then 3D scanning is implemented computer vision technique and is deposited with the plant size, plant quality and/or pest that extract comparatively low resolution Instruction etc., as shown in figure 1 and 2 a.

The module cascade scanning optical of 5.1 robotic manipulators

In a variant, in block S120, in response to the first module reach transfer station, system 100 via be arranged in turn It transports the optical sensor at station and records the width of the first module and the module cascade scanning optical of length.In one embodiment, Robotic manipulator includes the stereo colour camera for being integrated into end effector or being arranged near end effector, is such as schemed Shown in 1.When the first module reaches transfer station, robotic manipulator, which navigates to end effector, makes camera be oriented in first Then the top-down photographs of the single 3D (or " light of the first module of camera record is triggered in predetermined position above module Learn scanning ").Specifically, system 100 can reach transfer station in response to the first module and execute the end in robotic manipulator Device navigates on the first module docking location and the therefore predefined scan position above the first module, then by being integrated into The optical sensor in end effector or being otherwise connected to robotic manipulator records the module level light of the first module Learn scanning.Then, system 100 can in module cascade scanning optical or when robotic manipulator occupies the scan position Optical reference of the detection arrangement in the first module in the visual field of camera, for the fortune of optical reference registration end effector It is dynamic, then in block S120, before the optical scanner via the first module of camera record, by end effector and camera The target position above the first module is located in relative to the optical reference.

Optionally, robotic manipulator may include 2D color camera (or multispectral camera etc.).When the first module When reaching transfer station, robotic manipulator can be with: for example in machine coordinates or relative to detecting in the first module End effector and camera navigation are passed through multiple predeterminated positions by optical reference；And in block S120, by these positions Each of set the two-dimentional photographs of the first module of camera record at position.Robotic manipulator (or more typically Ground says, system 100) then these two-dimentional photographs can be spliced into and represents the plant being currently contained in the first module Single 3 D photographs (or " optical scanner ").

Again optionally, robotic manipulator may include depth cameras, which includes active infrared texture Projector, and in block S120, robotic manipulator can recorde the width of the first module and the depth image of length；Machine People's executor (or in more general terms, system 100) can rebuild the 3-D shape of the plant in the first module from the depth image Shape.However, any other method or technique may be implemented to capture 2-D to the 3-D optics of the first module and sweep in robotic manipulator It retouches.

Once having recorded the optical scanner of the first module in block S120, and starting to move plant from the first module Before the migration period for moving the second neighbouring module, system 100 can extract the plant in the first module in block S122 Measurement, and being measured based on these to confirm that these plants meet predefined inspection, such as size, leaf color or lack Pest instruction.

5.2 plant size

In one embodiment, system 100 checks whether the plant being currently contained in the first module generally has foot To guarantee to be transferred to the size of the second fattening pattern block from the first module.Particularly, if the plant in the first module generally surpasses Preset threshold size is crossed, if then these plants are transferred to that the second module can grow faster and quality is higher.However, If be generally not above from the plant in measurement the first module of instruction extracted in the module level scan image of the first module pre- If threshold size: by these plants be transferred to the second module may growth rate to these plants and quality generate it is small very To being negative impact, while reducing the efficiency of plant distributions in entire facility；And plant is turned using robotic manipulator Removing the first module may postpone the plant of higher demand being transferred out of another module.Therefore, system 100 can analyze first The module cascade scanning optical of module, to determine whether plant generally has enough sizes before any of both following: It triggers loading machine and the first module is returned into its previous growth position in facility；Or triggering robotic manipulator starting turns Circulation is moved, in transfer cycle, robotic manipulator sequentially selects plant from the first module, and is abandoning or placing this A little individually plants scan these individual plants (for example, with higher resolution ratio) into the second module before.

In this embodiment, system 100 can be with computer vision technology, such as edge detection or spot (blob) Detection, with: the circumference of the first module in identification optical scanner；The quantity of optical scanner Green pixel is counted (for example, It is more than the pixel quantity of threshold intensity or brightness in optical scanner Green channel)；Then if green pixel and picture in image The ratio of plain sum is more than threshold rate, then authorizes the plant in the first module to be transferred to the second module and (and be described below Block S130 in vice versa).Similarly, system 100 may be implemented color sorter to represent the pixel in optical scanner A possibility that plant, classifies, and then counts to the pixel quantity for being classified as " may represent plant " in optical scanner Number.

System 100 can realize these methods and techniques for each Color Channel in optical scanner, merge each face The classification of respective pixel in chrominance channel counts in composite coloured space the pixel quantity of " may represent plant ", then, if by The pixel counts for being classified as " may represent plant " are more than that threshold pixels count or more than the optical scanner for corresponding to the first module The threshold percentage of middle all pixels, then authorized machine people executor executes a series of transfer cycles, and plant is removed the first mould Block simultaneously moves into the second fattening pattern block.Therefore, system 100 can be based on fill factor (that is, the two-dimension optical in the first module is swept Retouch the ratio of leaf or the leaf area coverage in the first module detected) make the plant being contained in the first module " passing through " or " failure ", as shown in figure 1 and 2 a.

Similarly, system 100 can detect the optical reference in the first module in optical scanner, and will be for first The pre-existing plant slot figure of the module type of module is aligned with these optical references, to position each plant in the first module The approximate center of slot, to position each plant.For in this way be located at optical scanner in the first module in the first plant slot, System 100 then can be with: detection from the radiation of the approximate center of the first plant slot in optical scanner be more than in optical scanner it is green The green pixel cluster (or " spot ") of threshold intensity or brightness in chrominance channel；By in the green pixel cluster and the first module The first plant in one plant slot is associated；Size and geometry based on the green pixel cluster estimate the size of the first plant (for example, approximate diameter)；And the process is repeated to each other plant slot being located in the first module.System 100 then can be with Plant in first module is transferred to the second fattening pattern block by authorized machine people executor: if in the first module in plant Between or average-size be more than threshold size；Or if at least threshold percentage of plant is more than preset minimum plant in the first module Object size；Etc..

In the above-described embodiment, wherein system 100 records the 3D optical scanner of the first module, system in block S120 100 can be with: methods and techniques as implementation of class in optical scanner to detect the optical reference in the first module；It will be for first The pre-existing plant slot figure of the module type of module is aligned with these optical references, to position each plant in the first module The approximate center of slot, to position each plant；It calculates and each plant cup and/or plant slot (approximatively) in the first module The plane of intersection；Then it extracts and is located in 3D optical scanner and perpendicular to the surface above each plant groove center of the plane Peak height.System 100 can be with: will be stored as the close of corresponding plant in the first module for the peak height value of each plant slot Like height；Then if the centre of these plants or average height are more than threshold level, or if in the first module at least The plant of threshold percentage is more than minimum plant height, then these plants in the first module is authorized to be transferred to second module, etc..

Therefore, system 100 can be with: the first optical reference in the first module is detected in module cascade scanning optical；As above Described, the known plants trench pattern of the first module type based on the first optical reference and for the first module estimates the first mould The position of first array of plant slot in block；The leaf face of first group of plant in the first module indicated in detection optical scanner Product；In block S122, based on the discrete leaf face detected on the position of the first array of plant slot in optical scanner Product estimates the size of the plant in first group of plant；Then if the plant in first group of plant more than threshold percentage shows More than the estimation size of target plant size, then authorizes first group of plant to be transferred out of the first module and enter fattening pattern block.This Outside, system 100 can be with: if the plant in first group of plant less than threshold percentage exhibits more than the estimation of target plant size Size, then refusal shifts first group of plant from the first module；Then assign loading machine and return to agricultural facility from the first module of chief commander The first interior growth position.

However, any other method or technique may be implemented in system 100, to be based on detecting in module cascade scanning optical Feature characterize the size of the plant in the first module, and correspondingly select in block S140 and S130 respectively these plants Passes through or fail to selecting property.

5.3 pest

Additionally or alternatively, implement computer vision skill in the optical scanner that system 100 can be recorded from block S120 Art is detected pest in first group of plant in the first module or detects the instruction of pest pressure.Particularly, in authorized machine people Before directly contacting between the plant in executor and the first module, system 100 can be with: robot behaviour is triggered in block S120 Vertical device records 2D the or 3D optical scanner of the first module；Then the optical scanner is analyzed to find the plant being contained in the first module The instruction of pest or pest pressure on object；And authorized machine people executor does not only detect on the plant in the first module It indicates to start a series of transfer cycles in insufficient situation to pest or pest pressure, pass through directly to reduce robotic manipulator Contact the chance of killed pest pollution.For example, if system 100 detects pest or evil really in the plant in the first module The instruction of worm, then system 100 can be with: the first module of label；Trigger arm is forbidden far from the movement of the first module or otherwise Robotic manipulator contacts the plant in the first module；And trigger loading machine by the first module be moved in facility it is independent every From area.Therefore, system 100 can analyze optical scanner to find pest or the pest instruction in the plant of the first module, and base Robotic manipulator, which is selectively triggered, in the result of the analysis executes a series of transfer cycles.

For example, system 100, which can scan optical scanner, may indicate that insect (example to find on the plant in the first module Such as, ant, aphid, fly, silverfish, moth or caterpillar etc.) existing dark (for example, black or brown) round or Diamond spot. In this example, system 100 can safeguard such counter put, if the end value of the counter keeps below threshold value (for example, " 5 ") then authorize first in the first module group of plant to be transferred to the second module, and if the counter it is final Value is more than threshold value, then makes first in the first module group of graft failure (for example, the first module of label is for being isolated and forbidding machine Device people executor is interacted with these plants).

In another example, system 100 can be with: in block S120, the record first within a period of time (for example, five seconds) The multiple optical scanner of module；The above method and technology are repeated to identify the dim spot in each of these optical scanners；It is real Target following technology is applied to detect movement of these dim spots in optical scanner；If system 100 determines these points in entire light It learns and is moved in this sequence of scanning, then confirm that these points represent insect；Then correspondingly make the first Module Fail.System 100 Similar methods and techniques can be implemented detect the helminth on the leafy region of plant shown in optical scanner (for example, Trombiculid, tick or acarid) and/or gastropod (for example, slug).

In another example, system 100 scans optical scanner to find and may indicate that nematode infections dark, decoloration Area foliage.In this example, if system 100 detects any this dark, decoloration area foliage in the first module, Calculate the ratio of the leaf area to decolourize in the first module, or detect pest in the first module any other is sufficiently strong Instruction, then system 100 can make the first Module Fail, and correspondingly the first module of label and its content for being isolated.System Optical scanner can be similarly processed to detect the mould or other fungies in the first module on plant in system 100.

Therefore, in block S122, system 100 can extract one group of feature from module cascade scanning optical, and being based on should One group of feature, such as based on one or more features detected in optical scanner as described above, pest is calculated first Probability present in module.Then, if probability existing for pest is more than threshold probability, in block S130, system 100 can be refused First group of plant is shifted from the first module absolutely, and in block S111, assigns loading machine for the first module and be independently transported to agricultural Isolation station in facility.However, in block S140, system 100 can be awarded if probability existing for pest is less than threshold probability It weighs first group of plant and is transferred out of the first module, and correspondingly plant is transferred to by triggering robotic manipulator from the first sequence of modules Second module.

However, any other method or technique may be implemented directly to detect the pest of any other type in system 100, or Person from include the first module one or a series of optical scanner in color data infer evil in the first module in plant The presence of worm.

5.4 leaf colors

System 100 can also from the extracted region color value for the optical scanner for corresponding to leaf or other plant substance, and And if these color values are fallen within the target range, first in the first module group of plant can be authorized to be transferred to the second module (vice versa).Particularly, leaf color can show with the strong correlation of plant " health ", once harvest, plant " be good for Health " can show the strong correlation with plant survival power, marketability, flavor and/or value.Is recorded in block S120 After the optical scanner of one module, system 100 therefore can be with: from the color value for extracting plant in the first module in optical scanner； According to the corresponding color value of plant in the first module, its health status is carried out qualitative or quantitative；And if these plants Average health is more than preset minimum health value or if at least minimum scale of these plants is more than preset minimum health Value, then authorized machine people executor starts a series of transfer cycles, these plants are transferred to the second fattening from the first module Pattern block.

Therefore, if the plant that is indicated generally in the first module of the visual characteristic of the plant in the first module it is unhealthy or Low viablity is shown, then system 100 can be lined up so that the first module to be removed to the content for abandoning the first module with allowing loader The discarding station (for example, arriving long-range compost case) of object, rather than waste robotic manipulator resource can when harvesting later to distribute It can be less likely to restore to generate the plant of high-quality product.(system 100 alternatively triggers robotic manipulator from the first mould Block removes plant and abandons these plants (for example, to local compost case at transfer station) immediately).

In one embodiment, system 100 implements template matching or Identifying Technique of Object, to identify in optical scanner Leaf, such as it is in based on template image or to first group of plant in the first module the plant of same type and similar growth phase The model of the leaf of object.System 100 then can by light color (for example, yellow, the brown, brown) region on these leaf peripheries with Chemical burn or nutrition supply deficiency are associated, then correspondingly mark these plants.If in the first module being more than number of threshold values The plant performance of amount goes out this chemical burn or the insufficient sign of nutrition supply；Or if the plant in the first module is more than threshold Value leaf area table reveals this chemical burn or the insufficient sign of nutrition supply, then system 100 can refuse the first mould completely Block.

For example, when refusing the first module, system 100 can be with: the first module is transported to discarded station by triggering loading machine, is used In removing and dispose these plants；Then the first module is transported to overhaul stand by triggering loading machine, can be examined at the overhaul stand The defect of the first module is looked into, and places under repair or is replaced if necessary with similar module.Alternatively, when refusing the first module, System 100 can be with: nutritional blend adjusted is calculated for the plant in the first module, to prevent in the future (preempt) this chemical burn or unsuitable nutrition supply；Then this nutritional blend adjusted is distributed to One module (and including other similar modules of same type plant in the similar growth phase of entire facility).

Additionally optionally, in aforementioned exemplary, system 100 can be with: based on thus detecting in the plant in the first module The chemical burn or unsuitable nutrition supply, determining module arrived are broken down；Assigning loading machine will be mutually similar with the first module The third module (for example, nursery pattern block) of type is transported to transfer station；Trigger robotic manipulator by all plants (or it is all can The plant of rescue) from the first module it is transferred to third module；It triggers loading machine and the first module is transported to overhaul stand；And it triggers Second module is transported to the recovery region in facility by loading machine, these plants can be for example in lower light intensity at the region With restore from these chemical burns or nutritional deficiency under the conditions of lower temperature.

In similar example, if system 100 is burnt from the heat on the plant identified in the first module in optical scanner Wound, then system 100 can be with: the first module is transported to discarded station by triggering loading machine, for removing and disposing these plants；And Be arranged at the selection area that the first module is previously located on entire facility or in facility lower enhancing or secondary light intensity, To prevent the plant in facility in other modules by similar thermal burn.Optionally, system 100 can trigger loading machine for One module returns to the facility area that lower light intensity (for example, enhancing light or secondary light of lower light intensity) is assigned.It is optional again Method as described below and technology can be implemented in ground, system 100, will be in the first nursery pattern block to trigger robotic manipulator Plant is transferred to the second fattening pattern block, and by the growth position of lower light intensity in the second module assignment to facility, so that these The plant burnt can restore and grow.

Therefore, if system 100 detects the thermal burn of plant in the first module from the feature that optical scanner is extracted, changes Burn or other nutritional deficiencies, then system 100 can assign loading machine and be transported to the first module: these plants can in facility The position that can be dropped；It can according to need the position of the first module of inspection and maintenance in facility；Or it can be with to these plants Growth position etc. in the facility of recovery, without triggering the plant interaction in robotic manipulator and the first module, with The operation of robotic manipulator is just distributed to the plant that higher viablity is shifted between other modules.Alternatively, if system 100 detect that thermal burn, chemical burn or other nutritional deficiencies, system 100 can execute down in the plant in the first module The methods and techniques of face description, can preferably make these plant recoveries to trigger robotic manipulator and be transferred to these plants Another module.

5.5 make first Module Fail

The block S130 of method S100 is described, and is dropped below target value in response to surviving force parameter, is refused the first module. In general, in block S130, if system 100 determines all or at least threshold percentage plants in the first module from optical scanner It is measured not over one or more predefined viablities, such as: show to be less than threshold size (for example, highly, effectively Radius) or fill factor, the leaf color fallen in except predetermined color group or color gamut is shown, or show to be more than evil Threshold probability existing for worm, as described above, so, first group of plant label entire in the first module can be not by system 100 It is ready for entry into next growth phase or can not otherwise survive.For example, if system 100 determines in the first module Plant size it is too small but healthy (for example, the sign for not showing chemical burn, malnutrition or pest), then system 100 can the first module of label carry out extended growth cycle (for example, it is small to increase by 48 in its specified growth position in facility When), and call loading machine by the first module back to the specified growth district in facility, as shown in figure 1 and 2 a.However, such as Fruit system 100 determine the plant performance in the first module go out excessive chemical burn or malnutrition and can not rehabilitation, then system 100 can be with: first group of plant in the first module of label is for disposition；And assigns loading machine and the first module is transported to facility Interior cleaning.Similarly, if system 100 determines that the plant performance in the first module goes out the sign of pest, system 100 can With: first group of plant in the first module of label, for isolation and final disposal immediately；The first module of label is used for Health Section Reason；And correspondingly assigns loading machine and the first module is moved away from into transfer station.

5.6 the first modules of authorization

However, if system 100 determines that the plant of all or enough ratios in the first module has passed through all predefine Viablity measurement, such as more than threshold size (for example, height, effective radius) or fill factor, presentation falls in predefined Leaf color in color group or color gamut, and/or present and be less than threshold probability existing for pest, as described above, then system 100 can be by: first group of plant in the first module of authorization is (for example, the nursery pattern characterized by the plant slot of the first density Block), for being transferred to the second module (for example, characterized by the plant slot of the second density of the plant slot less than the first density Second fattening pattern block)；Then robotic manipulator is triggered in block S140 and execute a series of transfer cycles, by these plants It removes the first module and enters next module, as shown in Figure 2 A and 2 B.Specifically, if system 100 is swept according to from optics The feature for retouching extraction determines that the size of all in the first module or at least threshold percentage plant is greater than threshold size, and target is presented Leaf (or fruit) color in color gamut, and/or present pest or pest pressure without sign or finite trace as then system 100, which can trigger robotic manipulator, executes a series of transfer cycles, by plant from the first module be moved to the second module (and Third module, etc.).

5.7 plants measurement

As described below, system 100 can also be with from optical scanner and/or from plant from the plant that captures after the removal of the first module The data extracted in the rescan or image of object are for each plant-filled digital document in the first module (for example, independent Digital document or database).

In addition, system 100 can be received by the data extracted from current optical scanning and previously from the plant in the first module The data of collection are compared.For example, system 100 can to the associated digital file of each plant be written from the first module or The calculating growth rate of the variation of the size or color of plant or plant more specifically since the last time optical scanner of plant.It is special Not, system 100 can store the Plant-related data extracted from the optical scanner of the plant in the first module to distribution To each of these plants (such as the plant slot being located in the first module based on each plant) or usual first module In first group of plant digital document in；System 100 can recorde and track the growth measurement of plant in entire facility, and base It is supplied in the intensity of controlled illumination in these data modification facilities (for example, natural light and artificial secondary illumination), entire facility To growing plants type or bacterial strain etc. in the nutrients of plant, facility.

5.8 tagging plants

In a kind of modification, the above method and technology is may be implemented in system 100, to identify from module cascade scanning optical Bion in one module, the bion is too small compared to other plant sizes in the first module, unhealthy or table Reveal lower viablity.Then, system 100 can mark these bions, or triggering robotic manipulator to abandon this The plant marked a bit, or these plants marked are transferred to another higher plant slot with other low viablity plants In density module.

In one example, system 100 is real to each plant detected in the module cascade scanning optical of the first module It applies minimum threshold dimensional gaughing and minimum threshold " health " checks (for example, there is the letter of instruction as leaf color and pest Number).Then system 100 can mark not through the every of any of minimum threshold dimensional gaughing and minimum threshold " health " inspection A plant.In this example, system 100 can also be realized from the module type of the first module minimum plant products (for example, 60%), so that the first module as a whole optionally through or failure.For example, if passing through minimum threshold in the first module The plant total or ratio that dimensional gaughing and minimum threshold " health " both check are more than minimum plant products, and system 100 can be with: Plant is transferred out of the first module by authorized machine people executor；And it triggers robotic manipulator selectively to abandon or shift certain A little plants (removing from the first module), these plants are unsatisfactory for minimum threshold dimensional gaughing or minimum threshold " health " checks.So And if checking the sum or ratio of plant in first module of the two by minimum threshold dimensional gaughing and minimum threshold " health " Example is less than minimum plant products, then system 100 can make the first Module Fail, and: if these plants are generally too small, assign First module is returned to its specified growth position in facility by loading machine；Or if these plants are generally unhealthy, Assign loading machine and the first module is transported to plant treatment and cleaning in facility.

In another example, the maximum target yield for the module type of the first module, example may be implemented in system 100 Such as the maximum target yield (for example, 45 in 48 total plant slots) of 94% yield of nursery pattern block.In this example, when When the first nursery pattern block comprising 48 plants is located at transfer station, system 100 can be with: the module that identification records in block S120 Three detected in cascade scanning optical are minimum and/or most unsound plant；And these three plants are marked, so as to subsequent It is disposed in migration period by robotic manipulator.

In similar example, nursery pattern block may include 50 plant slots, and fattening pattern block may include 12 plants Object slot.In order to which plant is assigned to four fattening pattern blocks from the first nursery pattern block, system 100 can be with: remembering from block S120 The plant of two minimum qualities in the first module is identified in the optical scanner of first module of record；The two plants are marked to carry out It rejects；By plant from the first sequence of modules be transferred to fattening type second, third, the 4th and the 5th module；And it is followed in transfer When reaching the two plants during ring, the plant (for example, into compost case) of the two labels is selectively abandoned.

In aforementioned exemplary, system therefore can be with: first group of plant in the first module is distinguished in module cascade scanning optical Each plant in object；Viablity based on each plant from the first module of characteristic present that module cascade scanning optical extracts； Access the target output of the first module type of the first module；It is shown in the first subset for the plant being defined in the first module The first subset of the plant of maximum viablity；And in the case where being more than target output, first group is defined in block S122 The second subset of the plant of minimum viablity is shown in plant.In response to reaching in the first module in the first subset of plant Then plant can be transferred in the second module in the second array of plant slot by plant, robotic manipulator in block S140 Next plant slot；However, in response to the low viablity plant in the second subset of plant in the first module of engagement, Robotic Manipulator The plant can be transferred to disposable containers or other secondary modules by device.

Therefore, when the first module is transported to transfer station, system 100 programmably can abandon mesh from the first module The minimum viablity plant of quantity is marked, thus: improve in nursery and during the fattening stage average plant quality；Improve these Gao Pin Distribution efficiency of the matter plant in entire facility；And/or the bacterial strain of low-quality plant is eradicated from facility over time.

The module cascade scanning optical of 5.9 loading machines

As described above, being configured as in a kind of modification navigated in module before splice module in loading machine, load Machine may include similar optical sensor, such as 2D color camera, 3D stereocamera or multispectral camera, face It is lower towards floor, once and loading machine navigate in module in place, limit include following module width and length view ?.In this variant, loading machine can be dispatched to the first module by system 100；Once loading machine navigates to above the first module Position and engagement (for example, lock or promoted) first module, loading machine can trigger optical sensor and be swept to record optics It retouches.

Then, system 100 can be handled as described above before assigning loading machine and the first module is transported to transfer station The optical sensor.Particularly, in this variant, system 100 can check before the first module is discharged into transfer station The existing instruction of the pest and/or pest of plant in one module, thus further isolation robotic manipulator and transfer station with From the possibility pollution of pest.Similarly, system 100 can be with: checking the size and quality of the plant in the first module, institute as above It states, and only when these plants have enough sizes and quality, just assigns loading machine for the first module and be transported to transhipment It stands, to improve the efficiency of loading machine and transfer station.In addition, if system 100 detected in the first module it is undersized Plant, the high yield growth position that system 100 can prompt loading machine to be transported to the first module in facility is (for example, have more The position of more natural lights)；If system 100 detects the low health plant in the first module, system 100 can prompt loading machine First module is transported to recovery zone, these plants remove simultaneously compost from the first module there；And if system 100 Detect the pest in the first module, system 100 can prompt loading machine that the first module is transported to the independent isolated area of facility Domain, etc., rather than the first module is transported to transfer station.

Therefore, in this variant, system 100 can be with: reaching the first module at the first growth position in response to loading machine On, the module cascade scanning optical of the first module is recorded via the optical sensor being integrated into loading machine；As described above, from the mould Extracted in block cascade scanning optical one in the first module group of plant survive force parameter (for example, indicate size, shape, color and/ Or pest instruction)；Then, when the force parameter that survives of first group of plant in (and and if only if) first module falls in preset target When in range, then prompt loading machine that the first module is automatically transported to transfer station.Otherwise, system 100 can assign loading machine Scan the plant in facility in another module.

However, system 100 can record the optical scanner of the first module in any other manner in block S120, and In block S122 from extracted in any other manner in the optical scanner to the viablity of plant in the first module (for example, quality and Health) other measurement or other see clearly.

6. transfer setting and module registration

As described above, when the first module is transported to transfer station, system 100 can be with: the module level of the first module of record Optical scanner, such as the optical sensor by being integrated into robotic manipulator；Detection arrangement is first in optical scanner One or more optical references in module；And by the pre-existing plant slot figure of the module type for the first module (or " layout ") is aligned with these optical references, to position the approximate center of each plant slot in the first module, to position Each plant, as shown in Figure 2 A.Particularly, system 100 can be with: first in the first module is detected in module cascade scanning optical Optical reference；The known plants trench pattern of the first module type based on the first optical reference and for the first module, estimation the The position of first array of plant slot in one module；Then independent navigation robotic manipulator engages this in the first module with sequence Plant in a little plant slots.

Similarly, when the second module is transported to the second module docking location at transfer station by loading machine, system 100 can With: the second scan position above autonomous driving end effector to the second module docking location, in the view of optical sensor The second module is positioned in；The optical sensor in robotic manipulator is triggered to record the second module level optics of the second module Scanning；The second optics in the second module is detected in the second module cascade scanning optical (or in the visual field of optical sensor) Benchmark；And it is similarly based on the second optical reference and the known plants trench pattern of the second module type of the second module is come Estimate the position of the second array of plant slot in the second module.Specifically, conveying the empty module (example of fattening type at transfer station Such as, " the second module ") when, the above method and technology may be implemented in system 100, with: the second optical scanner of the second module of record； Identify the benchmark in the second module；Position and direction based on optical reference in the second optical scanner will be for the second module type Plant slot figure project in the second optical scanner, with position the second module in plant slot；Then be arranged for by plant from First module is transferred to the fill order or fill order of the second module.For example, system 100 can be with: will be grasped near robot The first plant slot in first module of vertical device with further from the last one plant slot in the second module of robotic manipulator Pairing；By falling for the last one slot in the second plant slot and neighbouring second module in the first module of neighbouring first plant slot Second plant slot pairing of number；... and by the last one plant slot and the second mould farthest from robotic manipulator in the first module The first plant slot nearest from robotic manipulator pairing in block.

In general, robotic manipulator along from one end of the first module to the opposite end of the first module a row plant slot from A row plant slot near robotic manipulator successively fetches plant to row's plant slot farthest away from robotic manipulator.Class As, plant can be sequentially placed into the second module by robotic manipulator, such as from the distal end of the second module to the second mould The proximal end of block, from a row plant slot farthest from robotic manipulator to a row plant slot nearest from robotic manipulator.Cause This, once the second module is placed (and locking in place) at transfer station, robotic manipulator can be with: the second mould of scanning Block, as described above；The benchmark and/or open plant slot in the second module are identified in optical scanner；And module will correspond to On these benchmark and/or plant slot on the predefined loading map paths to the second module of second module type.For example, machine People's executor (for example, the control module for being coupled to or being integrated into other calculating equipment in robotic manipulator or system 100) Computer vision technique can be implemented (for example, edge detection, Object identifying, pattern-recognition, optical character identification, template matching Deng), to identify in the second module above the water planting pallet in patterned optical reference and/or Direct Recognition these water planting pallets Plant slot, as shown in Figure 1.In this example, module map can be relative to the optical reference and/or plant fattened on pattern block Groove pattern specifies starting plant slot, the starting row of plant slot, for the filling direction or plant slot of multiple rows of plant in plant slot Fill planning chart etc..Robotic manipulator (or other computer equipments in system 100) then can by module map with the Then benchmark or plant the slot alignment identified in two modules realizes that plant slot filling planning chart or other fillings are fixed according to module map Justice the sequence for filling the second module is arranged, and identifies the first plant of the plant-filled shifted from the first module Slot.

Optionally, robotic manipulator (or other calculating equipment in system 100) can fill out the plant slot of preloading Fill rule be applied to it is multiple rows of in optical reference, plant slot and/or the plant slot that is detected in the optical scanner of the second module Then plant identifies the first plant slot in the second module to fill the plant shifted from the first module, and correspondingly setting is used In the sequence for filling the second module.However, any other method or technique may be implemented to identify plant slot and be the in system 100 Fill order is arranged in plant slot in two modules.

7. first migration period

The block S140 of method S100 is described, in response to surviving force parameter more than target value, by robotic manipulator end The end effector at place navigates laterally towards the first plant；The block S140 of method S100 is described from the first plant slot vertical navigation End effector is to extract the first plant from the first plant slot.In general, in block S140, robotic manipulator (visually) positioning Then the first plant to remove from the first module executes robotic manipulator path to execute the end of robotic manipulator Device navigates to the position of horizontal neighbouring first plant, then with the first plant contact, and then vertically upward to be planted from first Object slot removes the first plant.

7.1 plants fetch path

In one embodiment, system 100 (for example, robotic manipulator) can be with: realize computer vision technique, with Detect robotic manipulator on optical sensor visual field in one or more optical references (for example, as described above, In the module cascade scanning optical recorded in block S120)；The global motion of end effector in robotic manipulator is registrated to These optical references in first module；And such as the predefined plant based on the first module type for the first module turns Shifting sequence, defines the sequence for sequentially removing plant from the plant slot in the first module, as shown in Figure 2 A and 2 B.

For example, the accessible generic plant of system 100 fetches path, a series of route points of the path definition, these roads Line point is spatially reference with the center of generic plant slot, and can be executed by robotic manipulator to lead end effector Generic plant at generic plant slot, to engage end effector to generic plant in joint place, and by end Actuator is retracted from generic plant slot.Once system 100 has determined the position (for example, center) of plant slot in the first module, System 100 can define the sequence for removing plant from the first module, comprising: from the first row near robotic manipulator Plant slot to last row's plant slot further from robotic manipulator along robotic manipulator from left to right by row.System 100 then can be with: according to plant removal sequence, relative to the first plant slot in the first array of plant slot in the first module Positioning plant fetches path for first position, spatially to refer to the first slot and therefore refer to the first plant in the first module It defines the first plant and fetches path；And the process is repeated to the other plant slots of each of the first module, to generate orderly One group of plant fetches path, and each path spatially refers to a corresponding slot in the first module, and therefore refers to a phase The plant answered.

System 100 then can be fetched along the first plant path (for example, along by the first plant fetch path relative to Each route point that first slot limits) from the end effector on main driving machine device people's executor, the first plant is located at engagement The first plant in slot.For example, robotic manipulator can be with: along in the first module when executing the first plant and fetching path The height of the path navigation end effector of upper vertical offset, the offset is greater than the plant growth stage plant in the first module Greatest expected height；By end effector be located in above the first plant slot in the first module and with its lateral shift；So End effector is reduced downwards towards the first module afterwards.(alternatively, robotic manipulator can except the boundary of the first module water Flat direction the first plant slot navigation end effector, is collided to avoid with the plant in the first module.) once end effector arrives Above preset height up to above the first module, such as height or facility floor with reference to the optical reference in the first module Default global height, and the known altitude based on module in facility, then in block S140, system 100 can drive end to hold Row device connects end effector against first glass of the first plant worked as in the first slot of front support laterally towards the first slot It closes.For example, robotic manipulator can be by end effector forth navigation pre-determined distance, with bonding machine people in block S140 First glass in executor or sample strain instrument, so that it is determined that when robotic manipulator has contacted with first glass, then phase Stop the transverse movement of end effector with answering.

Once engaged first glass of end effector in block S140, robotic manipulator can be according in block S140 First plant fetches path and navigates vertically upward end effector from the first module, to fetch completely from the first plant slot One plant and its root, as shown in Figure 1.For example, in the first module plant current growth phase, robotic manipulator can be with End effector is pulled through vertically upward from the first plant slot the greatest expected length of the root of this seed type plant away from From.Alternatively, robotic manipulator: can analyze by be integrated into end effector optical sensor record or by arranging The image of Static optical sensor record nearby (for example, in the pedestal of robotic manipulator), so as to once the first plant It is taken out from the first plant slot, with regard to identifying the root extended to below the first plant；And can by end effector laterally toward Confirm that these roots have been removed completely from the first plant slot before to the second neighbouring module is mobile.

It is held however, any other method or technique can be implemented in system 100 (for example, robotic manipulator) to calculate end Row device executes the path from the path of the first plant of the engagement of the first slot and removal in the first module in block S140.

7.2 carry out the scanning of plant particular optical by robotic manipulator

In a kind of modification shown in Fig. 2A and Fig. 2 B, system 100 also: when robotic manipulator navigation end effector with When the first plant contact, the plant grade optical data of the first plant is collected；Then the extraction pair from these plants grade optical data In the specific measurement of the plant of the first plant.System 100 may then based on these plants grade optical metrology to determine being rejecting the First plant is still transferred in the second module by one plant.

In one embodiment, generic plant fetches a series of route points of path definition, when by robotic manipulator When execution, which fetches path (such as end in (such as surround) generic plant slot navigating robot executor In actuator) optical sensor so that multiple sides of the generic plant in generic plant slot are in end effector close to simultaneously It is fallen into the visual field of optical sensor when final engagement generic plant.Therefore, as described above, by the way that generic plant is fetched path Path is fetched to limit the first plant in the estimated location of the first plant slot projected in the first module, system 100 can be counted A series of route points are calculated, when being executed by robotic manipulator, the system is in the first plant slot navigating robot executor Optical sensor so that the first plant when end effector is close and finally engages the first plant, in the first plant slot Multiple sides fall into the visual field of optical sensor.

It is fetched in path in entire first plant, system 100 can also be via the optical sensor in robotic manipulator The multiple images of the first plant are recorded, such as when end effector reaches in this series of route point with reference to the first plant slot When each route point.For example, system 100 can be with: as described above, in block S120, when robotic manipulator occupies the first module The first scan position when, pass through the optical sensor logging modle cascade scanning optical being integrated in robotic manipulator；Implement Generic plant with the processing module cascade scanning optical in block S122, and is fetched path and projects to first by the above method and technology In module in the estimated location of the first plant slot；In block S140, automatically by end effector from it in the first scan position The current location at place drives to the first plant and fetches each route point in a series of route points in path, and end is executed Device is joined to the first plant；And in block S160, during robotic manipulator executes a series of route points, passed via optics Sensor records one group of image of the first plant.

Then, in block S162, system 100 can extract the first of the first plant from first group of image of the first plant Survive force parameter.For example, system 100 can be with: the 3-D that one group of image of the first plant is compiled into the first plant is indicated；And In block S162, implement the methods and techniques similar with the above method and technology extract the 3-D of the first plant indicate in the The first of one plant survives force parameter, such as indicate the existing instruction of size, color, leaf density and/or pest etc..

In this variant, system 100 can be with: if extract from the indicating of the first plant first survives force parameter not More than threshold value, then the first plant is put into the second module (for example, as described above, abandoning the first plant by refusal in block S130 Or the first plant is placed in spare module)；Or if the first plant first to survive force parameter really be more than the threshold value, The viablity of plant is then confirmed in block S170 and is inserted into the first plant in the second array of the plant slot in the second module In plant slot.Therefore, in this variant, when robotic manipulator is close to the first plant, system 100 can collect the first plant Additional plant is specific, optical data of higher resolution, extracting from these additional plant particular optical data should Then the viablity of first plant correspondingly selectively shifts or rejects the first plant in block S170.

In this variant, as described above, system 100 can also be by these additional plant particular optical data (for example, The 3-D image or original image of one plant) it is stored in database associated with the first plant or other digital documents.

7.3 are scanned by the plant particular optical that optical inspection station carries out

In similar modification shown in Fig. 4, once as described above, robotic manipulator is from the first plant in the first module Slot fetches the first plant, and system 100 can trigger robotic manipulator and the first plant is stored in the light being arranged on transfer station It learns in inspection station.In block S160, optical inspection station can illuminate the first plant substantially surrounded by the first plant always, and because High-resolution, the repeatable plant particular optical of this first plant of record scan (for example, 3-D color image).System 100 can Force parameter is survived (for example, base to implement the above method and technology to scan from the plant particular optical extract the first plant In the geometry of the first plant, color, leaf density etc.), and correspondingly the first plant of selective authorization turns in block S162 Shifting or the first plant of label.

Such as: robotic manipulator can be fetched from the first plant slot in the first array of the plant slot in the first module First plant, and the insertion of the first plant is arranged in the optical inspection station at transfer station；Then optical inspection station can recorde The 3-D image of one plant；The 3-D image of first plant can be stored in database associated with the first plant by system 100 In, and extract from the 3-D image viablity measurement of the first plant；Robotic manipulator then can be from optical inspection station The first plant is fetched, and the first plant is transferred in the last one plant slot in the second module, the second of plant slot In array.

However, any other method or technique may be implemented to collect the plant of the first plant in system 100 in block S160 Particular optical data, and in block S162 from these plant particular optical data extract specific to the first plant the degree of correlation Amount.

7.4 weight

Another modification of method S100 includes: block S150, and which describe the first weight of the first plant of measurement；And block S172 drops to threshold weight which describe the first weight in response to the first plant hereinafter, abandoning the first plant.In general, machine Device people executor measures the weight (or quality) of the first plant in block S150, if the weight of the first plant is small in block S172 In preset threshold weight (or quality), then the first plant of label is to be discarded, and if the weight of the first plant is more than default threshold It is worth weight (or quality), then removes the first plant to be transferred to the next stage for being used for plant growth in the second module.

In a kind of embodiment shown in Fig. 1, robotic manipulator includes one group of (for example, three) deformeter, this is answered Become instrument to be arranged on three vertical axises, and be inserted between the end effector of robotic manipulator and alternate arm section (or End effector and from end effector extend jaw between).Before engaging the first plant in block S140, Robotic Manipulator Device can suspend its movement, sample to one group of deformeter, and the value read from deformeter is stored as tare weight value, thus school Quasi- one group of deformeter is then to measure the weight of the first plant.Once the first plant is engaged simultaneously by end effector in block S140 And removed completely in block S140 from the first plant slot, robotic manipulator can again sample one group of deformeter, And the difference between these the new values read from deformeter and the tare weight value recorded before fetching the first plant is come based on Calculate the weight of the first plant.

In this embodiment, in block S140 after the first slot the first plant of removal, robotic manipulator can be stood Deformeter is read, and correspondingly calculates the weight of the first plant according to these data.System 100 can also multiply the weight value With static humidity coefficient or time-based humidity coefficient (for example, the first plant in coefficient and the first module less than 1.0 The position of slot and the function of past time quantum since being stopped by the water of the first module circulation), it is planted with correction first The humidity of object root or the calculated weight of water content.Additionally or alternatively, once the first plant is planted from first in block S140 Remove in object slot, robotic manipulator can be with: fast vibration end effector shakes water under from the root of the first plant In the collecting tank of side；The air blower for starting neighbouring first plant, by water from the root (and far from first module) of the first plant Blowout, for example, downwards or laterally enter in collecting tank；Or before to the deformeter sampling in robotic manipulator, work as moisture When dripping from the root of the first plant, suspend its movement with the first plant on collecting tank.

However, robotic manipulator may include being arranged in any other position and being configured to export to represent the first plant The sensor of any other type of the signal of the weight of object.Robotic manipulator can also implement any other method or skill The signal interpretation read from sensor to calibrate sensor before fetching the first plant, and is the weight of the first plant by art (or quality).

As shown in Figure 1, then the weight of the first plant can be punished dispensing the type in the growth phase by system 100 The preset threshold weight (or typical value) of plant is compared.If the weight of the first plant is less than the preset threshold weight, machine Method as described below and technology can be implemented in device people's executor, and the first plant is placed in the third module of nursery type In next open plant slot.Then, system 100 can according to the weight of the first plant (and be placed in third module its The weight of his plant) and preset threshold weight between amplitude difference extended growth period (for example, 48 hours) is distributed into third Module.Once the first module is emptied or once third module is filled with the underweight plant from first He other modules Object, system 100 can assign loading machine for third module back to planting area specified in facility, to mention for the first plant For maturation to the chance for being suitable for being transferred to the size in fattening pattern block, wherein first plant can be less than in the first module Most of other plants.Optionally, if the weight of the first plant is less than preset threshold weight, in block S172, robot First plant can be assigned in neighbouring loose discarded tank by executor.

Therefore, in block S140, robotic manipulator can be from the first array of the plant slot in the first module One plant slot fetches the first plant；The first plant is vibrated so that the moisture of the first plant root is discharged；In block S150, via connection Weight sensor (for example, being arranged in the deformeter in end effector) to robotic manipulator records the first of the first plant Weight；In block S172, if the first weight of the first plant fails to reach threshold weight, the first plant is put into the by refusal Two modules；And in block S170, if the first weight of the first plant is more than threshold weight, the first plant is inserted into second In plant slot in module.

However, system 100 can authorize the first plant to be transferred to if the weight of the first plant is more than preset threshold weight In second module.

The alignment of 7.5 roots

In a kind of modification, in next open plant that the first plant is put into the second module to (or in third module) Before slot, robotic manipulator can make the root of the first plant straight and upright (straighten) or alignment.For example, Robotic Manipulator Device can be along vertical shaft vibration end effector, to swing the root of the first plant at perpendicular alignmnet.Show at another In example, robotic manipulator can be navigate to the root of the first plant in electromechanical root aligning guide, and activate electromechanical root Portion's aligning guide is to be straightened the root of the first plant.In this illustration, electromechanical root aligning guide may include vertically dividing Cylindrical body, the cylindrical body are configured to be closed around plant root so that its root is straight and upright, then open to discharge the first plant. However, robotic manipulator may be implemented any other technology or connect with any other equipment interface, (or " to be filled out in transfer Plug ") into second (or third) module specify plant slot before keep the root of the first plant straight and upright.

The filling of 7.6 plant slots

The block S170 of method S100 is described, and survives force parameter more than target value in response to first, the first plant is shifted In the last one plant slot into the second module in the second array of plant slot.In general, in block S170, system 100 can be with Automatically navigate on the last one plant slot in the second array of the plant slot in the second module end effector, to lead It navigates the first plant, then reduces end effector towards the second module, the first plant is inserted into last in the second module In a plant slot, shown in A and Fig. 4 as shown in Figure 1, Figure 2.

In one embodiment, system 100, which is realized, is similar to above-mentioned methods and techniques, so as to: the second module of record The second module cascade scanning optical；The pre-existing plant slot figure of module type for the second module is projected to second On one or more optical references detected in module cascade scanning optical, to position each (empty) plant in the second module The approximate center (or directly detected in the second module cascade scanning optical empty plant slot) in the second module of slot；Access is used for Plant is inserted into the plant storage sequence of the second module type of the second module；It accesses generic plant and stores path, the path is fixed Justice a series of route points, these route points spatially refer to the center of generic plant slot, and can be by robotic manipulator It executes, towards generic plant slot navigation end effector, the generic plant in end effector to be inserted into generic plant slot, It is detached from end effector and generic plant, and end effector is retracted from generic plant slot；Sequentially according to plant storage, Plant storage path is positioned relative to the rearmost position of the last plant slot in the second array of plant slot in the second module, with It limits and spatially stores path with reference to the first plant of the last one slot in the second module；And to each of second module Other plant slots repeat the process, and to generate ordered set plant storage path, each path spatially refers to the second mould A corresponding slot in block.

Therefore, system 100 can be relative to the last of the last plant slot in the second array of plant slot in the second module Path is stored to position plant in position, stores path to limit the first plant.Path is fetched executing the first plant to engage the After one plant, and if it is confirmed that the first plant has already been through above-mentioned each viablity inspection (and once the first plant Root it is straight and upright, as described above), robotic manipulator can along the first plant store autonomous path driving robot behaviour First plant is inserted into the last one plant slot in the second module by the end effector on vertical device.

For example, when executing the first plant storage path (for example, fetching terminal, the weighing positions in path from the first plant Or root is directed at position), the first plant can be maintained at vertical direction by robotic manipulator, and be erected above the second module It is straight to deviate (example related to the greatest expected length at identical growth phase from the root that the plant of same type extends downwardly Such as, be greater than) distance.As shown in Figure 1, in block S170, once the first plant is arranged vertically specifying in the second module Above plant slot and with its almost coaxial, robotic manipulator can reduce end effector, by the first plant insertion the In the last one plant slot in two modules.Once the plant cup of the first plant is kept to enter the last one plant in the second module The enough distances of object slot (for example, at least 60% of the insertion height of plant cup), once then end effector reaches the second module The object height of top, once end effector reach the known altitude based on module in facility above facility floor Default global height, robotic manipulator horizontal can retract end effector far from the first plant, such as more than in same all one's life The distance of the greatest expected radius of same type plant at the long stage, so that end effector and plant cup be made to be detached from, and by the One Plant emission is into the second module.(optionally, the first plant can removed it from the first module by robotic manipulator Before, the first plant is estimated according to the third photographs of the first crown by the camera record in end effector Radius, and in the plant slot being placed into the second module later and the vertical-path back to the first module is being executed to take It returns before next plant, end effector is retracted into at least distance from the first plant).Robotic manipulator then can be horizontal Ground and/or end effector is vertically moved back to the first module, to fetch next plant from the first module.

However, any other method or technique may be implemented in system 100 in block S170, the first plant is stored in In its plant slot distributed in the second module.

7.7 plants abandon

However, if the first plant is not able to satisfy one or more viablity inspections (for example, based on module level or plant The size of particular optical scanning, color, weight or pest, which exist, to be checked), system 100 can the first plant of label, such as Fig. 1 and figure Shown in 2A.If therefore the first plant of label, system 100 can trigger robotic manipulator and deposit the first plant system 100 It is placed on the compost case being located at transfer station or abandons in case, as shown in block S172.Optionally, above-mentioned side may be implemented in system 100 Method and technology will be substantially similar to the 4th module of the first module (for example, to be similar to the first module to assign loading machine Plant groove density is characterized) it is transported to transfer station, such as adjacent to the first and second modules；If system 100 therefore label first Therefore plant, system 100 can trigger under the first plant is inserted into the 4th module in plant slot array by robotic manipulator In one available plant slot.In this example, system 100 can be with: once the 4th module (fully) is full of plant, just assigning dress 4th module is transported to the growth position in facility by carrier aircraft；And later the plant in the 4th module it is estimated meet these at It is repeated the above process at the future time of vigor inspection, the 4th module is called into back transfer station and plant is transferred out of the 4th Module.

7.8 fixed (canned) transfer cycles

The block S144 of method S100 describes the second plant laterally navigate to end effector in one group of plant, this Two plants are arranged in the second plant slot in the first array of the plant slot adjacent with the first plant slot.Once in general, system 100 be transferred to the first plant in next open plant slot in the second module from the first module (or in third module Or in loose discarding bucket), system 100 can repeat the above method and technology, by executing as above-mentioned in block S144 Second plant of middle calculating fetches path and corresponding plant storage path, according to the removal for the first and second modules and deposits The penultimate plant slot that the second plant is transferred in the second module by sequence from the second plant slot in the first module is put forward, such as Shown in Fig. 1, Fig. 2A and Fig. 2 B.System 100 can repeat the process to the subsequent plant of each of the first module, until the first mould Block is sky.For example, robotic manipulator can be along the first row plant slot near robotic manipulator from the first module First end to the second end of the first module, then along the adjacent second row plant slot of the first row opposite with robotic manipulator From the first end of the first module to the second end of the first module etc., until the first module is that sky successively fetches plant.

In the examples described above, wherein generic plant is fetched the first plant slot pair in path and the first module by system 100 It is quasi- to be simultaneously directed in generic plant storage path with the last one plant slot in the second module, once the first plant is moved to the Two modules, system 100 can repeat the process, to prepare the second plant being transferred out of the first module.Particularly, once robot First plant is moved to the last one plant slot in the second module by executor, and system 100 can be with: the plant in the first module Second position positioning generic plant in first array of object slot relative to the second plant slot fetches path, and the second plant slot is adjacent Nearly first plant slot and by remove the first plant be exposed to robotic manipulator, with limit the second plant fetch path； Penultimate position positioning relative to penultimate plant slot in the second array of the plant slot in the second module is general Plant stores path, stores path to limit the second plant；Autonomous path driving robotic manipulator is fetched along the second plant On end effector, with engage be located at the second plant slot in the second plant；Path is fetched executing the second plant with will be last End actuator is joined to after the second plant, is held along the end in the second plant storage autonomous path driving robotic manipulator Second plant is inserted into the second module in penultimate plant slot by row device；Then the process is repeated, until the first mould There is no plant in block or until being full of plant in the second module.

8. the second module is assigned

In a kind of modification shown in Fig. 2A, if the first module is empty not yet, but the second module is close to full capacity System 100 can assign loading machine and the third module for the type of fattening is transported to transfer station, then once the second module is full, trigger machine Plant remaining in first module is transferred in the plant slot in third module by device people executor.In general, as described above, because Nursery pattern block shows plant slot more highdensity than the second module of fattening type, so being when the first module is unloaded System can trigger loading machine and the multiple modules for the type of fattening sequentially are transported to transfer station, and robotic manipulator can will plant In multiple modules of the object from the first module assignment of the first kind to fattening type, until the first module is empty.

In one embodiment, when the second module is close to full capacity, system 100 can call loading machine: for example from The third sky module of fattening type is fetched at harvest station or cleaning in facility；With the full module of third sky module exchange second；And Second module is returned into the designated position in facility, such as the fattening region in facility.In this embodiment, once third Module is placed (and locking in place) at transfer station, and robotic manipulator can be with: scanning third module；In third mould The benchmark and/or open plant slot in third module are identified in the optical scanner image of block；Predetermined loading map paths are arrived In the optical scanner of third module；And identify the first plant slot in third module, the dress which is predefined It carries path and is appointed as starting point, such as described above.Then robotic manipulator can restore solid according to the above method and technology Fixed transfer cycle, by the first module plant sequential transfer (sequentially from current plant slot into the first module most The latter plant slot) into third module (sequentially from the last one plant slot to the first plant slot in third module).

Accordingly, in response to of plant slot in the second module of plant-filled in the first subset with plant in the first module Each plant slot in two arrays, system 100, which can assign loading machine the second module is independently transported to agricultural from transfer station, to be set Apply the second interior growth position.In addition, in response to the last one plant in first group of plant is transferred out of the first module, system 100 can be with: assigning the cleaning that the first module is automatically transported in agricultural facility by loading machine, to prepare with one group of new plant Object (such as rudiment) is reloaded the first module.

System 100 can also realize timer, be fetched with selectively triggering the first module from its growth position distributed, The second module for being transferred to first group of plant characterized by the plant slot compared with low-density.For example, system 100 can be with: ringing First group of plant is placed into the first module by Ying Yu in early heading or " seedling " growth phase, assigns loading machine at the first time First module is automatically transported to the first growth position by place；Then during assignment loading machine differs scheduled after the first time Between ear growth period (for example, surrounding) the second time at the first module is automatically transported to transhipment from the first growth position It stands, so that first in the first module group plant is when being transported to transfer station (about) in intermediate heading growth phase.System Then 100 may be implemented preceding method and technology, by the first subset of these intermediate heading growth phase plants from the first mould Block is transferred to the second module.In addition, system 100 can assign loading machine at the third time from the second growth position in facility The second module is independently fetched, the third time differs scheduled mature heading growth period (for example, surrounding) after the second time, makes The first subset for obtaining the plant in the second module (about) is in mature heading growth phase when being transported to transfer station.Then, Preceding method and technology can be implemented in system 100, and the first subset of now mature plant is transferred out of the second module, And these plants are placed in case or on conveyer etc., in preparation for finishing, packaging and these plants are transported out set It applies.

9. module pre-scheduling

In another modification, system 100 calls loading machine that module is transported to transfer station, and triggering robotic manipulator is swept These modules are retouched, and extract plant size, quality and/or pest pressure data, such as the height in transfer station from these scannings Bandwidth/during the low demand period.Specifically, system 100 can just undergo low-load in the robotic manipulator at transfer station When implement the process, so that the module of plant comprising preparing to be transported to next type block is ranked up or is prioritized, and/ Or detect more quickly pest (for example, be loaded onto module in plant and then between being removed in module less than two weeks Time in).For example, the plant in module in entire facility different location may be with difference since exposure in sunshine amount is different Growth rate；Therefore, system 100 can inspect periodically the growth of plant in module in entire facility, and correspondingly to these Multiple groups plant in module is ranked up, to be transferred to the module of next type, thus in lower bandwidth/high requirements Higher transfer efficiency (for example, the plant shifted per unit time) is realized during period at transfer station.

In one embodiment, system 100 implements the above method and technology, will be corresponded to assigning loading machine sequentially One group of module in particular growth stage is delivered to transfer station, such as comprising one group of oldest plant in the particular growth stage and marks It is denoted as the one group of module that will transport (for example, in subsequent 24 or 48 hours).For each module in the group, system 100 can be with: triggering robotic manipulator scan module；Plant characteristic in representation module is calculated according to the optical scanner to quantify The quantitative values of value, such as expression average color, total fill factor, average-size or average shape etc.；By quantitative values and module Identifier be stored together in the database；Then triggering loading machine (will be basically unchanged) module and return to it in facility Previous position.Once therefore as soon as scanned and its content is indicated each module in this group of module by quantitative values, system 100 The module in the group can be ranked up by its quantitative values, such as by in maximum fill factor, green channel Greater color intensity and/or the module of maximum plant size carry out priority ordering etc..(goal displacement can also be arranged in system 100 Time and date, or according to the adjustment of the quantitative values of these modules for their transfer time table).

During the plant in one group of module is arranged to be transferred to later period module or be packaged the migration period of distribution, system 100 according to priority sequentially sequentially can call the module in the group.Once the module in the group is transported to transfer station, system 100 may be implemented the above method and technology: rescan the module；The plant extracted from optical scanner in confirmation module Optical parameter meets various parameter presets；Plant is sequentially removed from module；Check whether the plant of each removal passes through weight Amount checks；Then plant is transferred in later period module or packaging from the module.System 100 can be according to sequence or priority pair Each module in the group repeats the process and is examined until being less than the plant of threshold percentage (for example, 80%) in the module by optics It looks into and/or weight check, system 100 can stop calling loading machine for module remaining in the group at this time, and mark these surplus Complementary modul block in later date to shift.For example, then these remaining modules can be inserted into next group of module by system 100 In, and next group of module is tested in subsequent one day repetition above method and technology.

Therefore, during the period for having excess bandwidth in loading machine and robotic manipulator, system 100 can be with: calling dress Module is transported to robotic manipulator and is scanned by carrier aircraft；Optical scanner based on these modules quantifies or defines these moulds In block in each module plant growth conditions；Then the time that plant is shifted or harvested from these modules is correspondingly set Table.Plant in these modules gets out to be loaded machine transfer and/or robotic manipulator have it is less for mobile and During the subsequent period of the bandwidth of scan module, system 100 can sequence on schedule call these modules so that highest is excellent The module of first grade is (for example, most probable includes maximum plant, most complete growing plants and/or the plant for most getting out transfer Module) it is first moved into robotic manipulator, it is followed to generate bigger optical scanner and transfer at robotic manipulator Ring efficiency.

System described herein 100s and method at least partly can be embodied as and/or be embodied as to be configured to receive Store the machine of the computer-readable medium of computer-readable instruction.Instruction can by with application, applet, host, Server, network, website, communication service, communication interface, subscriber computer or mobile device hardware/firmware/software element, Watch, smart phone or its any combination appropriate and component can be performed to execute in integrated computer.Other systems of embodiment System and method at least partly can be embodied as and/or be implemented as to be configured to receive the meter for storing computer-readable instruction The machine of calculation machine readable medium.Instruction can be by can be performed component by the computer of device and system integrating with the above-mentioned type Component can be performed to execute in the computer integrated.Computer-readable medium can store in any computer-readable Jie appropriate In matter, such as RAM, ROM, flash memory, EEPROM, optical device (CD or DVD), hard disk drive, floppy disk drive or Any suitable equipment.Component, which can be performed, in computer can be processor, but any special hardware appropriate can be (optional Ground or additionally) it executes instruction.

If those skilled in the art in drawings and claims by from previous detailed description and from recognizing, It, can be to the embodiment of the present invention in the case where not departing from the scope of the present invention as defined by the appended claims Make modifications and variations.

Claims

1. a kind of method for transfering plant automatic in agricultural facility, which comprises

Assign loading machine to be independently transported to the first module in the agricultural facility from the first growth position in agricultural facility Transfer station, first module is with the first array of the first density limitations plant slot and is mounted in the first growth phase First group of plant；

Assign the loading machine and the second module is independently transported to the transfer station, second module is to be less than described first The second array of second density limitations plant slot of density and no plant；

Record the module cascade scanning optical of first module；

That first group of plant is extracted in the feature detected from the module cascade scanning optical survives force parameter；

It is fallen in except target viablity range in response to the force parameter that survives, refusal is from first module transfer described the One group of plant；With

It is fallen in the target zone in response to the force parameter that survives:

O triggers robotic manipulator at the transfer station, and the first subset of first group of plant is suitable from first module Sequence is transferred in the second array of the plant slot in second module；

O assigns the loading machine and third module is independently transported to the transfer station, and the third module is with second density Limit the third array of plant slot；With

O is every in the second array of the plant slot in second module in response to being filled with first subset of plant A plant slot triggers the robotic manipulator and shifts the second subset of first group of plant from first sequence of modules In the third array of the plant slot into the third module.

2. according to the method for claim 1:

Wherein, the module cascade scanning optical for recording first module includes reaching the transhipment in response to first module It stands, the module cascade scanning optical is recorded at the optical sensor being arranged at the transfer station；

Wherein, the force parameter that survives for extracting first group of plant is included in the robotic manipulator contact first mould Before block:

O extracts one group of feature from the module cascade scanning optical；With

O is based on one group of feature calculation probability existing for the pest in the first module；

Wherein, it includes in response to probability existing for pest more than threshold that refusal, which shifts first group of plant from first module, Be worth probability and:

O refusal shifts first group of plant from first module；With

O assigns the isolation station that first module is independently transported in the agricultural facility by the loading machine；With

Wherein, it triggers the robotic manipulator and turns the first subset of first group of plant from first sequence of modules Moving on to second module includes: to authorize first group of plant more than probability existing for pest in response to the threshold probability It is transferred out of first module.

3. according to the method for claim 1:

Wherein, the module cascade scanning optical for recording first module includes the width and length for recording first module Module cascade scanning optical；

Wherein, the viablity ginseng of first group of plant is extracted in the feature detected from the module cascade scanning optical Number includes:

O detects the first optical reference in first module in the module cascade scanning optical；

The known plants trench pattern of first module type of the o based on first optical reference and for first module, estimates Count the position of the first array of the plant slot in first module；

O detects the leaf area of first group of plant in the optical scanner；With

O is based on the discrete leaf face detected on the position of the first array of the plant slot in the optical scanner Product estimates the size of plant in first group of plant；With

Wherein, it triggers the robotic manipulator and turns the first subset of first group of plant from first sequence of modules Moving on to second module includes: to exhibit more than target plant in response to being more than the plant of threshold percentage in first group of plant The estimation size of object size authorizes first group of plant to be transferred out of first module.

4. according to the method for claim 3:

Wherein, the module cascade scanning optical for recording first module is included at the robotic manipulator:

O is reached at the transfer station in response to first module, and the end effector in the robotic manipulator is navigated Scan position to above first module；With

O records the module cascade scanning optical by the optical sensor being integrated in the end effector；With

Wherein, it includes in response to being less than in first group of plant that refusal, which shifts first group of plant from first module, The plant of threshold percentage exhibit more than the estimation size of the target plant size and:

O refusal shifts first group of plant from first module；With

O assigns the loading machine and first module is automatically returned to first growth position in the agricultural facility It sets.

5. according to the method for claim 1:

Wherein, the module cascade scanning optical for recording first module includes, at the loading machine, in response to described first Module reaches first growth position, records the module cascade scanning optical of first module；With

Wherein, assign the loading machine and first module is independently transported to the transfer station from first growth position Include: to be fallen into the target zone in response to the force parameter that survives, prompts the loading machine that first module is autonomous It is transported to the transfer station.

6. according to the method for claim 1:

Wherein, the force parameter that survives of extraction first group of plant includes:

O distinguishes each plant in first group of plant in the module cascade scanning optical；With

O characterizes the viablity of each plant in first group of plant described in first module；

The method also includes:

O accesses the target output of the first module type of first module；

O is defined on first subset that the plant of maximum viablity is shown in first group of plant；With

O is defined on the second of the plant that minimum viablity is shown in first group of plant when being more than the target output Subset；With

Wherein, it triggers the robotic manipulator and turns the first subset of first group of plant from first sequence of modules Second module is moved on to be included at the robotic manipulator:

Plant in the first subset of the o in response to reaching the plant in first module, is transferred to described second for the plant Next plant slot in the second array of the plant slot in module；With

Plant in second subset of the o in response to reaching the plant in first module, is transferred to discarding for the plant In container.

7. according to the method for claim 1:

Wherein, assigning the loading machine first module is independently transported to the transfer station includes: to assign the loading First module is independently transported to the first module on the first side of the robotic manipulator at the transfer station by machine Docking location；

Wherein, the module cascade scanning optical for recording first module includes:

End effector in the robotic manipulator is independently driven first to above the first module docking location by o First module is located in the light being arranged in the robotic manipulator close to the end effector by scan position In the visual field for learning sensor；With

O records the module cascade scanning optical of first module via the optical sensor；With

Wherein, the robotic manipulator is triggered first subset of first group of plant is suitable from first module Sequence is transferred to second module further include:

O detects the first optical reference in first module in the visual field of the optical sensor；

O is positioned relative to the first position of the first plant slot in the first array of the plant slot in first module Plant fetches path, fetches path to define the first plant；With

O fetches autonomous path along first plant and drives the end effector in the robotic manipulator, to connect First plant of the coincidence in the first plant slot.

8. according to the method for claim 7:

Wherein, assigning the loading machine second module is independently transported to the transfer station includes assigning the loading machine Second module is independently transported in second side of the robotic manipulator and first mould at the transfer station The second opposite module docking location of block docking location；With

It further include the second scan position independently driven the end effector to above the second module docking location, Second module to be located in the visual field of the optical sensor；With

Wherein, it triggers the robotic manipulator and turns the first subset of first group of plant from first sequence of modules Move on to second module further include:

O detects the second optical reference in second module in the visual field of the optical sensor；

The known plants trench pattern of second module type of the o based on second optical reference and for second module, estimates Count the position of the second array of the plant slot in second module；

The last one position of o relative to the last one plant slot in the second array of the plant slot in second module It sets to position plant storage path, stores path to define the first plant；With

O is after executing first plant and fetching path to engage first plant, certainly along the first plant storage path The end effector in the main driving robotic manipulator,

First plant to be inserted into the last one plant slot in second module.

9. according to the method described in claim 8, further include:

The second position relative to the second plant slot in the first array of the plant slot in first module is to position It states plant and fetches path, fetch path to define the second plant, the second plant slot is adjacent to the first plant slot and leads to It crosses and removes first plant and be exposed to the robotic manipulator；

Penultimate position relative to penultimate plant slot in the second array of the plant slot in second module It sets to position plant storage path, stores path to define the second plant；With

O fetches autonomous path along second plant and drives the end effector in the robotic manipulator, to connect Second plant of the coincidence in the second plant slot；With

O stores road after executing second plant and fetching path to engage second plant, along second plant Diameter independently drives the end effector in the robotic manipulator, and second plant is inserted into second module In penultimate plant slot in.

10. according to the method for claim 7:

Wherein, the plant is positioned relative to the first position of the first plant slot fetches path to define described first Plant fetches path

O accesses the plant and fetches path, which fetches a series of general roads of the path definition with reference to generic plant slot Line point；With

O positions a series of route points relative to the estimated location of the first plant slot；

Wherein, the end effector in the robotic manipulator is independently driven to include along the first plant approach The end effector is independently driven from first scan position to each route point in a series of route points, with By end effector engagement to first plant；

Further include:

O records described the during the robotic manipulator executes a series of route points, via the optical sensor One group of image of one plant；With

O extracts the first of first plant from first group of image and survives force parameter；With

O is more than described first to survive force parameter in response to threshold value, and first plant is put into second module by refusal；With

O survives force parameter more than the threshold value in response to described first, and first plant is inserted into second module In plant slot in the second array of the plant slot.

11. according to the method for claim 10:

Wherein, the first of first plant is extracted from first group of image survive force parameter include:

One group of image is compiled into the three dimensional representation of first plant by o；With

O is extracted from the three dimensional representation of first plant represents the size of first plant and described the first of color survives Force parameter；With

It further include being stored in the 3-D image in database associated with first plant.

12. according to the method for claim 10:

It further include assigning the loading machine the 4th module is independently transported to the transfer station, the 4th module is with described 4th array of one density limitations plant slot；With

Wherein, it includes planting in response to the threshold value more than described first that first plant is put into second module by refusal The first of object survives force parameter, first plant is inserted into the 4th array of the plant slot in the 4th module In plant slot.

13. according to the method described in claim 1, wherein, triggering the robotic manipulator for the of first group of plant One subset is transferred to second module from first sequence of modules further include:

The first plant at the robotic manipulator, from the first array of the plant slot in first module Slot fetches the first plant in first subset of plant；

The optical inspection station first plant being inserted at the transfer station；

At the optical inspection station, the 3-D image of first plant is recorded；

The 3-D image is stored in database associated with first plant；With

At the robotic manipulator, first plant is transferred in second module from the optical inspection station The plant slot second array in plant slot in.

14. according to the method described in claim 1, wherein, triggering the robotic manipulator for the of first group of plant One subset is transferred to second module from first sequence of modules further include:

At the robotic manipulator, taken from the first plant slot in the first array of the plant slot in first module Return the first plant in first subset of plant；

At the robotic manipulator, first plant is vibrated so that water is discharged from the root of first plant root Point；

The first weight of first plant is recorded via the weight sensor for being connected to the robotic manipulator；

At the robotic manipulator, it is more than the first weight of first plant in response to threshold weight, refuses institute It states the first plant and is put into second module；With

At the robotic manipulator, the first weight in response to first plant is more than the threshold weight, by institute The first plant is stated to be inserted into the plant slot in the second array of the plant slot in second module.

15. according to the method described in claim 1, further include:

Described in the second module described in the plant-filled in the first subset with the plant in first module Each plant slot in the second array of plant slot, assigns the loading machine second module is independently defeated from the transfer station The second growth position being sent in the agricultural facility；With

In response to the last one plant in first group of plant is transferred out of first module, assign the loading machine The cleaning first module being independently transported in the agricultural facility.

16. according to the method for claim 1:

It further include dividing in response to the first group of plant for being in early heading growth phase to be placed into first module Send the loading machine that first module is independently transported to first growth position in first time；

Wherein, assign the loading machine and first module is independently transported to the transfer station from first growth position Differ second time in predetermined intermediate growth period of earing after the first time for described the including assigning the loading machine One module is independently transported to the transfer station from first growth position, and first group of plant in first module about exists Second time is in the intermediate heading-stage；With

It further include the third time assigned the loading machine and differ predetermined mature heading growth period after second time Second module is fetched automatically from the second growth position, and the first subset of the plant in second module is about described Three times were in mature heading growth phase.

17. a kind of method for transfering plant automatic in agricultural facility, which comprises

At the transfer station:

O detects the first optical reference in first module；

O is based on first optical reference, and first of the plant slot in first module is registrated at the transfer station The position of array；

O detects the second optical reference in second module；

O is based on second optical reference, and second of the plant slot in second module is registrated at the transfer station The position of array；

O navigates end effector at the transfer station to engage the first plant in first group of plant, and described first plants Object is arranged in the first plant slot in the first array of the plant slot in first module；

O records the first optical scanner of first plant；

What o extracted first plant from first optical scanner first survives force parameter；

O survives force parameter more than target value in response to described first, and first plant is transferred in second module In the last one plant slot in the second array of the plant slot；

O navigates the end effector to engage the second plant in first group of plant, and second plant is arranged in institute It states in the second plant slot in the first array of the plant slot in the first module, the second plant slot is adjacent to first plant Slot and the end effector is exposed to by removing first plant；

O records the second optical scanner of second plant；

What o extracted second plant from second optical scanner second survives force parameter；With

O is more than described second to survive force parameter in response to the target value, and second plant is put into second mould by refusal Block.

18. according to the method for claim 17:

Wherein, the end effector is navigated to engage first plant and include:

O access plant fetches path, and the plant fetches a series of general routes of the path definition with reference to generic plant slot Point；

O positions a series of route points relative to the estimated location of the first plant slot, to define around described first The first plant of plant fetches path；

O fetches end of the autonomous path driving in the robotic manipulator at the transfer station along first plant and executes Device is by each route point in a series of route points, by end effector engagement to first plant；

Wherein, the first optical scanner for recording first plant includes:

O is during the robotic manipulator executes a series of route points, via the optics in the robotic manipulator Sensor records one group of image of first plant；With

What o extracted the size for representing first plant from one group of image of first plant first survives force parameter；With

Wherein, first plant is transferred to last in the second array of the plant slot in second module It include being more than threshold size and being transferred to first plant described in response to the size of first plant in a plant slot In second module.

19. a kind of system for transfering plant automatic in agricultural facility, the system comprises:

First module, the first growth position being assigned in agricultural facility, with the first of the first density limitations plant slot Array, and first group of plant is mounted on the first array of the plant slot；

Second module, to be less than the second array of the second density limitations plant slot of first density；

Third module, with the third array of the second density limitations plant slot；

Transfer station is arranged in inside the agricultural facility；

Loading machine is configured to:

O is in the entire agricultural facility by independent navigation；

First module is automatically transported to the transfer station from first growth position by o；

Second module is automatically transported to neighbouring first module at the transfer station by o；With

The third module is automatically transported to neighbouring first module at the transfer station by o, to replace described second Module；

Robotic manipulator is disposed at the transfer station, and the robotic manipulator includes holding close to the end The optical sensor of row device, and be configured as:

O engages the first plant in first group of plant, and first plant occupies the plant slot in first module The first plant slot in first array；

O survives force parameter more than threshold value in response to first plant, and first plant is inserted into second module Second group of slot in the last one slot in；

O is more than that first plant survives force parameter in response to the threshold value, and first plant is put into described the by refusal Two modules；

The first subset of plant is transferred to second of the plant slot in second module by o from first sequence of modules Array, the first subset of the plant include first plant；With

O is suitable from first module by the second subset of plant in response to filling second group of plant slot in second module Sequence is transferred to the third array of the plant slot in the third module, and the second subset of the plant connects first mould The first subset of the plant in block.

20. system according to claim 19:

Wherein, the robotic manipulator is configured to be disposed close to when the end effector the of first module When the first plant in one slot, the first image of first plant is recorded；

Further include controller, the controller is configured to:

What o extracted first plant from the first image survives force parameter；With

O described first survives difference between force parameter and target viablity range based on first plant, selectively The robotic manipulator is triggered first plant is inserted into second module and first plant is discarded into discarding In case.